This is the branch for ROS2; use the ros1 branch for ROS1.

ForceControlCollection

Force control functions for robot control

Install

Requirements

Compiler supporting C++17
Tested on Ubuntu 22.04 / ROS Humble

Dependencies

This package depends on

Technical details

Wrench distribution is a common method in robot control that, given a resultant wrench, calculates the equivalent contact wrench at the contact patches. For example, section III.B of the following paper describes the formulas for wrench distribution.

M Murooka, et al. Centroidal trajectory generation and stabilization based on preview control for humanoid multi-contact motion. RA-Letters, 2022. (available here)