Motion controls for HEBI robotic

Abstract

Motion planning and control is now well known as a key technology in the field of robotic. The robustness of motion control will signify a function of stiffness and a basis for practical usage. Target of motion is categorized by control stiffness which could be change according to the preferred task reference. However, the system robustness of motion always requires a well-planned path and a very high stiffness in the controller. With the studies of motion planning and motion control, this project proposes a self-planning package using robot operating system, gazebo simulation and moveit motion planner. This report will explore the usage of ROS, gazebo, moveit and how to integrate them together and implement on the robot