Event
RB-Y1 demonstrates redundant whole-body control for a wheeled dual-arm robot
1 reports · 1 sources
Guyuehome demonstrated a redundant whole-body control method on the RB-Y1 wheeled dual-arm robot: starting from generalized coordinates and the Jacobian, it uses the null space to maximize manipulability and avoid joint limits. The experiments also showed push-disturbance recovery under task-space impedance control, as well as mobile manipulation that expands the workspace through chassis movement.
Report timeline
- 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.
Guyuehome ·