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.”
More like this ➡️ here
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]
*Our articles may contain aff links. As an Amazon Associate we earn from qualifying purchases. Please read our disclaimer on how we fund this site.