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most citedPACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control

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cs.RO2024★ 7 cited

PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control

Giulio Turrisi, Lucas Schulze, Vivian S. Medeiros +2

In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The c…