PAL Robotics | TIAGo - Whole Body Control Package
PAL Robotics presents the TIAGo Whole Body Control Package, describing a framework for controlling complex robots.
In this talk
- 0:08
Control with prioritized tasks
Whole Body Control uses online inverse kinematics and a stack of tasks with different priorities. The framework is intended to simplify control of complex robots.
- 0:35
Built-in and custom tasks
The task stack includes defaults for respecting joint limits and avoiding self-collision. Developers can add custom tasks, enabling applications such as robot teleoperation.
- 1:10
Move the gripper interactively
An interactive marker lets an operator move TIAGo's gripper. During the movement, Whole Body Control respects joint limits and avoids self-collision.
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