Abstract: This article presents an active human-following control of the lower limb exoskeleton for gait training. First, to improve safety, considering the human balance, the OpenPose-based visual ...

Abstract: Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement ...

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This package provides a ros2 control interface for the Whole-Body Control library. WBC was initiated and is currently developed at the Robotics Innovation Center of the German Research Center for ...