Unified Approach for Hybrid Motion Control of MOCA Based on Weighted Whole-Body Cartesian Impedance Formulation
نویسندگان
چکیده
This work presents a unified approach for hybrid motion control of the Mobile Collaborative Robotic Assistant (MOCA). The objective is to develop loco-manipulation controller, enabling various couplings arm and mobile base movements, particularly their purely decoupled motions. proposed method based on weighted whole-body Cartesian impedance where decoupling motions can be achieved by solving local optimization problem joint torques in first task space its nullspace, respectively. Under this framework, tuning weighting terms nullspace gain, three modes, i.e. Locomotion, Manipulation, Modified Loco-Manipulation, are implemented. To evaluate approach, door opening that requires different mobility patterns arm, base, coupled movements demonstrated. experiment results validate methodology provide comprehensive understanding differences among above modes.
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ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2021
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2021.3062316