OpenFleX: Omnidirectional Mobility and Dual-Arm Coordinated Manipulation Control for a Wheeled Humanoid Robot

The OpenFleX wheeled humanoid robot reproduces omnidirectional chassis kinematics, damped least-squares inverse kinematics, and whole-body redundant coordinated control in MuJoCo. A single end-effector motion can be achieved through various combinations of chassis, lift, and dual-arm degrees of freedom; the experiments compare pseudoinverse and damped least-squares performance near singular configurations.