Abstract:Whole-body control (WBC) has been applied to the locomotion of legged robots. However, current WBC methods have not considered the intrinsic features of parallel mechanisms, especially motion/force transmissibility (MFT). In this work, we propose an MFT-enhanced WBC scheme. Introducing MFT into a WBC is challenging due to the nonlinear relationship between MFT indices and the robot configuration. To overcome this challenge, we establish the MFT preferable space of the robot and formulate it as a polyhedron in … Show more
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