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RB-Y1: Redundant Whole-Body Control and Compliant Mobile Manipulation for a Wheeled Dual-Arm Robot

The RB-Y1 wheeled dual-arm robot demonstrates redundant whole-body control based on generalized coordinates and the Jacobian, including null-space utilization for manipulability maximization and joint-limit avoidance. The experiments show push-disturbance recovery under task-space impedance control, as well as mobile manipulation in which base movement expands the workspace.

Part of the event: RB-Y1 demonstrates redundant whole-body control for a wheeled dual-arm robot

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