# Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators

arXiv: https://arxiv.org/abs/2307.04918 · HTML: https://mlsanity.com/paper/2307.04918/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 7 of its 33 references that are in the map.
- First posted on arXiv 10 Jul 2023.

## Builds on (most cited first, 7 of 7)

- [Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion](https://mlsanity.com/paper/2210.10044/) (2022)
- [A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation](https://mlsanity.com/paper/2103.00946/) (2021)
- [VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots](https://mlsanity.com/paper/2107.07243/) (2021)
- [RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms](https://mlsanity.com/paper/2203.01446/) (2022)
- [Video Object Segmentation-based Visual Servo Control and Object Depth Estimation on a Mobile Robot](https://mlsanity.com/paper/1903.08336/) (2019)
- [Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs](https://mlsanity.com/paper/1809.09759/) (2018)
- [Mobile Robot Manipulation using Pure Object Detection](https://mlsanity.com/paper/2201.12437/) (2022)

## Built on by (most cited first, 1 of 1)

- [Learning Generalizable Feature Fields for Mobile Manipulation](https://mlsanity.com/paper/2403.07563/) (2024)

## Abstract (arXiv)

We propose a control pipeline for SAG (Searching, Approaching, and Grasping) of objects, based on a decoupled arm kinematic chain and impedance control, which integrates image-based visual servoing (IBVS). The kinematic decoupling allows for fast end-effector motions and recovery that leads to robust visual servoing. The whole approach and pipeline can be generalized for any mobile platform (wheeled or tracked vehicles), but is most suitable for dynamically moving quadruped manipulators thanks to their reactivity against disturbances. The compliance of the impedance controller makes the robot safer for interactions with humans and the environment. We demonstrate the performance and robustness of the proposed approach with various experiments on our 140 kg HyQReal quadruped robot equipped with a 7-DoF manipulator arm. The experiments consider dynamic locomotion, tracking under external disturbances, and fast motions of the target object.