Remember EDAN? It is a robot for wheelchair users that can help them become more independent. DLRRMC has shared a new video that shows a framework for whole-body control for this robot. Thanks to this method, tasks like opening or closing doors can be done easily.
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As you can see in the below video, it is possible to move the wheelchair while the end-effector stays in a fixed position. In Following mode, the wheelchair moves based on forces interacting with the arm.
Employing Whole-Body Control in Assistive Robotics
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