Niels Dehio presents paper at ICRA

On the 22.05., IPR PhD student Niels Dehio presented the paper Modeling & Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics during Grasping Dehio N, Smith J, Wigand D, Xin G, Lin H-C, Steil JJ, Mistry M at the ICRA conference. The paper presents a generalized controlframework for tetra-arm manipulation (see video) and quadrupedal locomotion based on computed torque control and projections to decouple force-control and motion control subspaces.