A kinematic whole-body control system for highly redundant robots

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Whole-body control is crucial to fully exploit all the possible motions that redundant robots with a free-floating base can achieve. This paper presents a new open source and platform independent system that integrates whole-body operational-space control schemes based upon inverse kinematics for highly redundant robots. Contrary to other works, which heavily rely on complex underlying platforms and are difficult to integrate in different frameworks, the proposed system does not rely on specific middlewares. It is completely platform independent, and its integration in different frameworks is easy and straightforward. The control system has been tested with a redundant humanoid robot.

Idioma originalInglés
Título de la publicación alojadaProceedings of the 2016 IEEE ANDESCON, ANDESCON 2016
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781509025312
EstadoPublicada - 27 ene. 2017
Evento2016 IEEE ANDESCON, ANDESCON 2016 - Arequipa, Perú
Duración: 19 oct. 201621 oct. 2016

Serie de la publicación

NombreProceedings of the 2016 IEEE ANDESCON, ANDESCON 2016


Conferencia2016 IEEE ANDESCON, ANDESCON 2016


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