Fast Object Visual Servoing and Grasping on Quadruped Manipulator [IROS 2023]

"Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators"

Riccardo Parosi, Mattia Risiglione, Darwin G. Caldwell, Claudio Semini, Victor Barasuol

We propose a control pipeline for SAG (Searching, Approaching, and Grasping) of objects, based on a decoupled arm kinematic chain and impedance control, which integrates image-based visual servoing (IBVS). The kinematic decoupling allows for fast end-effector motions and recovery that leads to robust visual servoing. The compliance of the impedance controller makes the robot
safer for interactions with humans and the environment.

This work has been accepted at the IROS 2023 conference. For more information, please see our full paper version at: https://arxiv.org/abs/2307.04918