A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators

Mattia Risiglione,Victor Barasuol,Darwin G. Caldwell,Claudio Semini,Mattia Risiglione,Victor Barasuol,Darwin G. Caldwell,Claudio Semini

Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the implementation of a Cartesian impedance control to coordinate tracking performance and desired compliance for the robot base and manipulator arm. The controller is formu...