@article{bellicoso2019alma,
  author    = {Bellicoso, Carmine D and
               Kramer, Koen and
               St{\"a}uble, Markus and
               Sako, Dhionis and
               Jenelten, Fabian and
               Bjelonic, Marko and
               Hutter, Marco},
  title     = {ALMA-Articulated Locomotion and Manipulation for a
               Torque-Controllable Robot},
  journal   = {IEEE International Conference on Robotics and Automation (ICRA)},
  year      = {2019},
  abstract  = {The task of robotic mobile manipulation poses several scientific
               challenges that need to be addressed to execute complex
               manipulation tasks in unstructured environments, in which
               collaboration with humans might be required. Therefore, we
               present ALMA, a motion planning and control framework for a
               torque-controlled quadrupedal robot equipped with a six degrees
               of freedom robotic arm capable of performing dynamic locomotion
               while executing manipulation tasks. The online motion planning
               framework, together with a whole-body controller based on a
               hierarchical optimization algorithm, enables the system to walk,
               trot and pace while executing operational space end-effector
               control, reactive human-robot collaboration and torso posture
               optimization to increase the arm's workspace. The torque control
               of the whole system enables the implementation of compliant
               behavior, allowing a user to safely interact with the robot.
               We verify our framework on the real robot by performing tasks
               such as opening a door and carrying a payload together with a
               human.},
  keywords  = {legged robots, mobile manipulation, optimization and
               optimal control},
  url_pdf   = {files/2019_icra_bellicoso.pdf},
  url_video = {https://youtu.be/XrcLXX4AEWE},
}

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D","Kramer, K.","Stäuble, M.","Sako, D.","Jenelten, F.","Bjelonic, M.","Hutter, M."],"year":2019,"bibtype":"article","biburl":"https://www.markobjelonic.com//publications/bibliography.bib","bibdata":{"bibtype":"article","type":"article","author":[{"propositions":[],"lastnames":["Bellicoso"],"firstnames":["Carmine","D"],"suffixes":[]},{"propositions":[],"lastnames":["Kramer"],"firstnames":["Koen"],"suffixes":[]},{"propositions":[],"lastnames":["Stäuble"],"firstnames":["Markus"],"suffixes":[]},{"propositions":[],"lastnames":["Sako"],"firstnames":["Dhionis"],"suffixes":[]},{"propositions":[],"lastnames":["Jenelten"],"firstnames":["Fabian"],"suffixes":[]},{"propositions":[],"lastnames":["Bjelonic"],"firstnames":["Marko"],"suffixes":[]},{"propositions":[],"lastnames":["Hutter"],"firstnames":["Marco"],"suffixes":[]}],"title":"ALMA-Articulated Locomotion and Manipulation for a Torque-Controllable Robot","journal":"IEEE International Conference on Robotics and Automation (ICRA)","year":"2019","abstract":"The task of robotic mobile manipulation poses several scientific challenges that need to be addressed to execute complex manipulation tasks in unstructured environments, in which collaboration with humans might be required. Therefore, we present ALMA, a motion planning and control framework for a torque-controlled quadrupedal robot equipped with a six degrees of freedom robotic arm capable of performing dynamic locomotion while executing manipulation tasks. The online motion planning framework, together with a whole-body controller based on a hierarchical optimization algorithm, enables the system to walk, trot and pace while executing operational space end-effector control, reactive human-robot collaboration and torso posture optimization to increase the arm's workspace. The torque control of the whole system enables the implementation of compliant behavior, allowing a user to safely interact with the robot. We verify our framework on the real robot by performing tasks such as opening a door and carrying a payload together with a human.","keywords":"legged robots, mobile manipulation, optimization and optimal control","url_pdf":"files/2019_icra_bellicoso.pdf","url_video":"https://youtu.be/XrcLXX4AEWE","bibtex":"@article{bellicoso2019alma,\n author = {Bellicoso, Carmine D and\n Kramer, Koen and\n St{\\\"a}uble, Markus and\n Sako, Dhionis and\n Jenelten, Fabian and\n Bjelonic, Marko and\n Hutter, Marco},\n title = {ALMA-Articulated Locomotion and Manipulation for a\n Torque-Controllable Robot},\n journal = {IEEE International Conference on Robotics and Automation (ICRA)},\n year = {2019},\n abstract = {The task of robotic mobile manipulation poses several scientific\n challenges that need to be addressed to execute complex\n manipulation tasks in unstructured environments, in which\n collaboration with humans might be required. Therefore, we\n present ALMA, a motion planning and control framework for a\n torque-controlled quadrupedal robot equipped with a six degrees\n of freedom robotic arm capable of performing dynamic locomotion\n while executing manipulation tasks. The online motion planning\n framework, together with a whole-body controller based on a\n hierarchical optimization algorithm, enables the system to walk,\n trot and pace while executing operational space end-effector\n control, reactive human-robot collaboration and torso posture\n optimization to increase the arm's workspace. The torque control\n of the whole system enables the implementation of compliant\n behavior, allowing a user to safely interact with the robot.\n We verify our framework on the real robot by performing tasks\n such as opening a door and carrying a payload together with a\n human.},\n keywords = {legged robots, mobile manipulation, optimization and\n optimal control},\n url_pdf = {files/2019_icra_bellicoso.pdf},\n url_video = {https://youtu.be/XrcLXX4AEWE},\n}\n\n","author_short":["Bellicoso, C. 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