U. Pattacini, "Modular Cartesian Controllers for Humanoid Robots: Design and Implementation on the iCub," Ph.D. dissertation, RBCS, Italian Institute of Technology, Genova, 2011.U. Pattacini, "Modular Cartesian Controllers for Humanoid Robots: Design and Implementation on the iCub," Ph.D. ...
To launch the Cartesian Impedance Controller, use: roslaunch serl_franka_controllers impedance.launch robot_ip:=<RobotIP> load_gripper:=<true/false> Replace with the IP address of your Franka robot. The load_gripper argument is a boolean value (true or false) depending on whether you have a...
The approach is able to produce effective and non-intuitive controllers in the form of a network of interconnected elementary building blocks, which minimize the defined performance index. Each building block performs mathematic operations between its inputs, next it contains gain and an elementary ...