Nonprehensile Object Transportation with a Legged Manipulator
Viviana Morlando,Mario Selvaggio,Fabio Ruggiero,Viviana Morlando,Mario Selvaggio,Fabio Ruggiero
This paper tackles the problem of nonprehensile object transportation through a legged manipulator. A whole-body control architecture is devised to prevent sliding of the object placed on the tray at the manipulator's end-effector and retain the legged robot balance during walking. The controller solves a quadratic optimization problem to realize the sought transportation task while maintaining th...
