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Taming Your Mobile Manipulator: Force and Position Control with Redundancy Resolution

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Uploaded on Sep 22, 2019

The video shows two experiments in which the proposed control architecture is used on a mobile manipulator traversing a slalom obstacle course. In the first experiment, the end effector tracks a straight line trajectory; in the second experiment, the end effector is guided by applied force alone.

Researchers: Michael Jakob, Adam Heins, Angela P. Schoellig

Music: www.bensound.com

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