From 8b49f092e6886a1b7eb4a4b312ae5e6ad583c4af Mon Sep 17 00:00:00 2001 From: Matthias Mayr Date: Tue, 23 Jan 2024 16:42:59 +0100 Subject: [PATCH] New: Spells out URDF --- res/paper.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/res/paper.md b/res/paper.md index c605944..6311310 100644 --- a/res/paper.md +++ b/res/paper.md @@ -34,7 +34,7 @@ In this package, we provide a C++ implementation of a controller that allows col 2. To allow for joint compliance in the nullspace of task-frame coordinates; and 3. To be able to apply desired forces and torques to their environments, e.g., for direct force control. -This package can be used in any torque-controlled robotic manipulator. Its implementation in Robot Operating System (ROS) integrates it into `ros_control` [@ros_control] and can automatically utilize the URDF description of the robot's geometry. +This package can be used in any torque-controlled robotic manipulator. Its implementation in Robot Operating System (ROS) integrates it into `ros_control` [@ros_control] and can automatically utilize the Unified Robot Description Format (URDF) description of the robot's geometry. # Statement of Need Modern robotics is moving more and more past the traditional robot systems that have hard-coded paths and stiff manipulators. Many use cases require the robots to work in semi-structured environments. These environments impose uncertainties that could cause collisions. Furthermore, many advanced assembly, manufacturing, and household scenarios such as insertions or wiping motions require the robot to excert a controlled force on the environment. Finally, the robot workspace is becoming increasingly shared with human workers to leverage both agents and allow them to complement each other.