Cartesian Impedance Controller

This repository contains a class for a Cartesian Impedance Controller, based on Elastic Potentials. More Details can be found here:

@phdthesis{lachner2022geometric,
title={A geometric approach to robotic manipulation in physical human-robot interaction},
author={Lachner, Johannes},
school={University of Twente},
year={2022}
}

Setting up the software

To clone the repository, run

    git clone https://github.com/jlachner/CartImpedanceControl-cpp.git [SET_UP_YOUR_DIRECTORY]

For vector and matrix calculations, we use Eigen version 3.4.0, which is added as a git submodule. To update the submodules, type:

    git submodule update --init --recursive

You always need to check for Explicit-cpp updates. For that, type:

    git submodule update --remote

To compile the code, run

    make -f Makefile-lib

Authors

This software is under development by Johannes Lachner.