Experiments in whole body robot control with Pϵbot

• Jorge Calderón ^[1] ; Alejandro Torrejón ^[1] ; Sergio Eslava ^[1] ; Pedro Núñez ^[1] ; Pablo Bustos ^[1]
  1. [1] Universidad de Extremadura

     Universidad de Extremadura

     Badajoz, España

     
• Localización: Proceedings of the XXV International Workshop on Physical Agents / David Herrero Pérez (ed. lit.), Humberto Martínez Barberá (ed. lit.), Pablo Bernal Polo (ed. lit.), Nieves Pavón Pulido (ed. lit.), 2025, ISBN 978-84-10327-06-1, págs. 132-149
• Idioma: inglés
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• Resumen

  • This paper focuses on integrating a whole-body controllerinto a cognitive robotics architecture. Whole-body control coordinates a robot’s entire range of motion to complete a task. In this study, we use Pϵbot, a custom-made robot equipped with a four-wheeled omnidirectional base and two Kinova Gen3 arms with seven joints and gripper, totalling twenty motors. We show how an existing holistic reactive controller can be adapted to the Pϵbot robot and integrated into the CORTEX architecture, leveraging its room detection and robot location functionality. The results of this work are demonstrated through simulations and by the real robot performing an object transfer task