/ForceControlCollection

Force control functions for robot control

Primary LanguageC++BSD 2-Clause "Simplified" LicenseBSD-2-Clause

ForceControlCollection

Force control functions for robot control

CI-standalone CI-catkin Documentation

Install

Requirements

  • Compiler supporting C++17
  • Tested on Ubuntu 20.04 / ROS Noetic and Ubuntu 18.04 / ROS Melodic

Dependencies

This package depends on

Technical details

Wrench distribution is a common method in robot control that, given a resultant wrench, calculates the equivalent contact wrench at the contact patches. For example, section III.B of the following paper describes the formulas for wrench distribution.

  • M Murooka, et al. Centroidal trajectory generation and stabilization based on preview control for humanoid multi-contact motion. RA-Letters, 2022. (available here)