This chapter defines a general Cartesian Compliance, which is used by the controllers presented in Chaps. 6 and 7. In general, a compliance combines a virtual spring and damper to stabilize a robot either in joint or Cartesian space. Although an implementation in Cartesian space is more cumbersome, a Cartesian compliance provides a more straightforward parameterization of the robot’s motion with respect to the environment.
Cartesian Compliance
Spr.Tracts in Adv.Robotics
Whole-Body Control for Multi-Contact Balancing of Humanoid Robots ; Chapter : 4 ; 47-58
2021-11-04
12 pages
Article/Chapter (Book)
Electronic Resource
English
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