A Whole-Body Controller for Rendering Impedances in Quadruped Manipulators [IROS 2022]

This video is supplementary material to our work, accepted for IROS 2022. We present a whole-body controller for our quadruped manipulator that allows for the implementation of a Cartesian impedance control to coordinate tracking performance and desired compliance for the robot base and manipulator arm. The presented strategy decouples the arm and the base of the platform, enforcing the behavior of a linear double-mass spring damper system, and allows to independently tune their inertia, stiffness and damping properties. The control architecture is validated through simulations using the HyQ robot equipped with a 7-DoF manipulator arm. The preprint can be found in: