Dynamic Interaction Control in Legged Mobile Manipulators: A Decoupled Approach
Qikai Li,Qinchen Meng,Yuxing Qin,Jiawei Chen,Xilun Ding,Kun Xu,Qikai Li,Qinchen Meng,Yuxing Qin,Jiawei Chen,Xilun Ding,Kun Xu
Legged mobile manipulators are receiving much more attention. Mobile platforms can infinitely expand the workspace of robotic arms, providing more possibilities for robot application scenarios. Compared with wheeled mobile manipulators, legged mobile manipulators have higher requirements for cooperative control of legged robots and robotic arms. This work decouples the control of the robotic arm a...
