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Whole-Body Control of Series-Parallel Hybrid Robots

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Here is a Whole-Body Control (WBC) framework designed for series-parallel hybrid robots. Most WBC frameworks are made for serial or tree-type robots and can’t take advantage of the entire workspace of a series-parallel hybrid robot. This framework can “exploit the entire position and velocity space of a robot with parallel submechanisms.”

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Whole-Body Control of Series-Parallel Hybrid Robots

Dennis Mronga, Shivesh Kumar, and Frank Kirchner are behind this approach. The video shows the humanoid RH5 robot using this approach to performs squats and boxing movement.

[HT]

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