Abstract: This work addresses the development and improvement of an on-body mobile robot designed to grasp and move human limbs. The robot was equipped with two independently controlled arms, designed ...

Abstract: This paper proposes a novel self-collision avoidance (SCA) scheme for whole-body model predictive control (WB-MPC). Since WB-MPC deals with a large-scale optimization problem, which becomes ...

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LAS VEGAS(AP) — William Nylander, who leads the Maple Leafs in scoring, went to the locker room late in the first period of Toronto's Thursday night game against the Vegas Golden Knights with a ...

This package provides a ros2 control interface for the Whole-Body Control library. WBC was initiated and is currently developed at the Robotics Innovation Center of the German Research Center for ...