Force control functions for robot control
- Compiler supporting C++17
- Tested on
Ubuntu 20.04 / ROS NoeticandUbuntu 18.04 / ROS Melodic
This package depends on
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)