MuJoCo Reproduction of OpenFleX Wheeled Humanoid Robot Control
What happened
Gu Yue Ju released a MuJoCo reproduction tutorial for the OpenFleX wheeled humanoid robot, covering omnidirectional chassis kinematics, damped least-squares inverse kinematics, and whole-body redundant coordinated control. The tutorial points out that a single end-effector motion can be achieved through various combinations of degrees of freedom of the chassis, lift, and dual arms; the experiment compared the performance of pseudoinverse and damped least-squares near singular configurations.
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- GuyuehomeOpenFleX: 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.
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