Loco-Manipulation Control for Arm-Mounted Quadruped Robots: Dynamic and Kinematic Strategies
The studies on quadruped robots equipped with arms are still rare at the moment. The interaction between the arm and the quadrupedal platform needs to be handled by whole-body controllers. This paper presents an optimization-based dynamic whole-body controller to solve the problem of when the robot...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-08-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/10/8/719 |