Open GiulioRomualdi opened 3 years ago
In Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts the authors use a whole-body admittance controller to handle contact with irregular surfaces. The controller is presented in Balance of Humanoid Robots in a Mix of Fixed and Sliding Multi-Contact Scenarios
Given our infrastructure adding an admittance task is really simple. We just need to define a new control law:
The detailed approach can be found in Siciliano Robotics modeling planning and control section 9.4
CC @singhbal-baljinder
DanielePucci
commented
3 years ago DanielePucci
commented
3 years ago
In Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts the authors use a whole-body admittance controller to handle contact with irregular surfaces. The controller is presented in Balance of Humanoid Robots in a Mix of Fixed and Sliding Multi-Contact Scenarios
Given our infrastructure adding an admittance task is really simple. We just need to define a new control law:
The detailed approach can be found in Siciliano Robotics modeling planning and control section 9.4