Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation

  title={Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation},
  author={Denny Oetomo and Marcelo H ANG Jr and Rodrigo S. Jamisola and Oussama Khatib},
A mobile manipulation system often involves combining more than one robot together, typically a manipulator arm and a mobile base. To implement force and motion control with dynamic compensation, a torque-controlled system is necessary. However, a torque-controlled robot is not always available. In fact, most commercially available mobile bases are velocity-controlled. This paper presents a method for combining a torque-controlled arm and a velocity-controlled base, while performing a force and… 

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