Abstract
As a result of intensive research over the last decades, several robotic systems are approaching a level of maturity that allows robust task execution and safe interaction with humans and the environment. Besides humanoid robots such as ASIMO [SWA+02], Robonaut 2 [DMA+11], or HRP-4 [KKM+11], a variety of wheeled systems has been developed, e.g. Rollin’ Justin [BWS+09], ARMAR-III [ARS+06], TWENDY-ONE [IS09], PR2 [BRJ+11]. Regardless of the specific structure of the system, the requirement of handling several objectives simultaneously is a common property for robotic applications in these dynamic and often unstructured environments. The features range from precise task execution, collision avoidance, and the compliance with physical constraints, to objectives such as maintaining the manipulability or the realization of desired postures.
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© 2016 Springer International Publishing Switzerland
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Dietrich, A. (2016). Whole-Body Coordination. In: Whole-Body Impedance Control of Wheeled Humanoid Robots. Springer Tracts in Advanced Robotics, vol 116. Springer, Cham. https://doi.org/10.1007/978-3-319-40557-5_6
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DOI: https://doi.org/10.1007/978-3-319-40557-5_6
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