A Kinematic Whole-body Control System for Highly Redundant Robots

Whole-body control is crucial to fully exploit all the possible motions that redundant robots with a free-floating base can achieve. This paper presents a new open source and platform independent system that integrates whole-body operational-space control schemes based upon inverse kinematics for highly redundant robots. Contrary to other works, which heavily rely on complex underlying platforms and are difficult to integrate in different frameworks, the proposed system does not rely on specific middlewares. It is completely platform independent, and its integration in different frameworks is easy and straightforward. The control system has been tested with a redundant humanoid robot.