Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators
Riccardo Parosi,Mattia Risiglione,Darwin G. Caldwell,Claudio Semini,Victor Barasuol,Riccardo Parosi,Mattia Risiglione,Darwin G. Caldwell,Claudio Semini,Victor Barasuol
We propose a control pipeline for SAG (Searching, Approaching, and Grasping) of objects, based on a decoupled arm kinematic chain and impedance control, which integrates image-based visual servoing (IBVS). The kinematic decoupling allows for fast end-effector motions and recovery that leads to robust visual servoing. The whole approach and pipeline can be generalized for any mobile platform (wheel...