Whole-Body Control for a Torque-Controlled Legged Mobile Manipulator

The task of performing locomotion and manipulation simultaneously poses several scientific challenges, such as how to deal with the coupling effects between them cope unknown disturbances introduced by manipulation. This paper presents an inverse dynamics-based whole-body controller for a torque-controlled quadrupedal manipulator capable while executing tasks. Unlike existing methods that separately, proposed can handle uniformly, which take into account base, limbs manipulated object. tracks desired task–space motion references based on hierarchical optimization algorithm, given set hierarchies define strict priorities importance weighting each within hierarchy. simulation results show robot is able follow multiple reference trajectories reasonable deviation, proved effectiveness controller.