Hierarchical Adaptive Control for Collaborative Manipulation of a Rigid Object by Quadrupedal Robots
Mohsen Sombolestan,Quan Nguyen,Mohsen Sombolestan,Quan Nguyen
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative manipulation tasks, including uncertainties arising from object properties, shape, and terrain. Our approach consists of three levels of controllers. Firstly, an adapt...
