Remember EDAN? It is a robot for wheelchair users that can help them become more independent. DLRRMC has shared a new video that shows a framework for whole-body control for this robot. Thanks to this method, tasks like opening or closing doors can be done easily.
As you can see in the below video, it is possible to move the wheelchair while the end-effector stays in a fixed position. In Following mode, the wheelchair moves based on forces interacting with the arm.