Open Source Whole-Body Control Framework for Human-Friendly Robots
2011 (English)Conference paper (Refereed)
Whole-body operational space control is a powerful compliant control approach for robots that physically interact with their environment. The underlying mathematical and algorithmic principles have been laid in a large body of published work, and novel research keeps advancing its formulation and variations. However, the lack of a reusable and robust shared implementation has hindered its widespread adoption. To fill this gap, we present an open-source implementation of whole-body operational space control that provides runtime configurability, ease of reuse and extension, and independence from specific middlewares or operating systems. Our libraries are highly portable. Decoupling from specific runtime platforms (such as RTAI or ROS) is achieved by containing application code in a thin adaptation layer. In this paper, we briefly survey the foundations of whole-body control for mobile manipulation, describe the structure of our software, very briefly present experiments on two quite different robots, and then delve into the bundled tutorials to help prospective new users.
Place, publisher, year, edition, pages
rigid-body dynamics, control, compliance, open-source, software framework
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:hh:diva-16485OAI: oai:DiVA.org:hh-16485DiVA: diva2:453563
4th Workshop on Human-Friendly Robotics (HFR 2011), University of Twente, The Netherlands, November 8-9, 2011