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Open Source Whole-Body Control Framework for Human-Friendly Robots
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS), Intelligent Systems´ laboratory.ORCID iD: 0000-0003-3513-8854
University of Texas at Austin. (Human Centered Robotics Lab)
2011 (English)Conference paper, (Refereed)
Abstract [en]

Whole-body operational space control is a powerful compliant control approach for robots that physically interact with their environment. The underlying mathematical and algorithmic principles have been laid in a large body of published work, and novel research keeps advancing its formulation and variations. However, the lack of a reusable and robust shared implementation has hindered its widespread adoption. To fill this gap, we present an open-source implementation of whole-body operational space control that provides runtime configurability, ease of reuse and extension, and independence from specific middlewares or operating systems. Our libraries are highly portable. Decoupling from specific runtime platforms (such as RTAI or ROS) is achieved by containing application code in a thin adaptation layer. In this paper, we briefly survey the foundations of whole-body control for mobile manipulation, describe the structure of our software, very briefly present experiments on two quite different robots, and then delve into the bundled tutorials to help prospective new users.

Place, publisher, year, edition, pages
2011.
Keyword [en]
rigid-body dynamics, control, compliance, open-source, software framework
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:hh:diva-16485OAI: oai:DiVA.org:hh-16485DiVA: diva2:453563
Conference
4th Workshop on Human-Friendly Robotics (HFR 2011), University of Twente, The Netherlands, November 8-9, 2011
Available from: 2011-11-03 Created: 2011-10-23 Last updated: 2013-11-15Bibliographically approved

Open Access in DiVA

philippsen-sentis--extended-abstract--hfr2011.pdf(128 kB)462 downloads
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9e461d7450ef73f94a9c55ffb907ed9b57509365e1263c705fa52d5c1c0ddeb9aa151bf340c75f04f33de4e396913463a12cf49f803cf179e7164ae9efbf613b
Type fulltextMimetype application/pdf

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf