Force control functions for robot control

Install

Requirements

• Compiler supporting C++17
• Tested on Ubuntu 20.04 / ROS Noetic and Ubuntu 18.04 / ROS Melodic

Dependencies

This package depends on

• mc_rtc
• QpSolverCollection

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)