2020/10/09 by Anastasia Bolotnikova, Bolotnikova, Anastasia, Pierre Gergondet +7
Engineering · #Robotic Locomotion and Control
paper · pdf · doi:10.48550/arxiv.2010.04573
We present an open-source software interface, called mcnaoqi, that allows to\nperform whole-body task-space Quadratic Programming based control, implemented\nin mcrtc framework, on the SoftBank Robotics Europe humanoid robots. We\ndescribe the control interface, associated robot description packages, robot\nmodules and sample whole-body controllers. We demonstrate the use of these\ntools in simulation for a robot interacting with a human model. Finally, we\nshowcase and discuss the use of the developed open-source tools for running the\nhuman-robot close contact interaction experiments with real human subjects\ninspired from assistance scenarios.\n