A Whole-Body Unified Force-Impedance Control for Non-holonomic Service Robots
Moein Forouhar, Hamid Sadeghian, Abdeldjallil Naceri, Alexander König, Sami Haddadin
Abstract
In this paper, we extend the Unified Force-Impedance Control (UFIC) framework for the whole-body control of service mobile robots subject to non-holonomic constraints. This enables the robot to execute complex service tasks that demand both force and impedance control within its whole body workspace. The task space of the robot is defined as the pose of both end-effectors. Following the concept of UFIC, both impedance and force tracking commands are applied in the task space of the whole-body controller, with augmented energy tanks incorporated to ensure passivity. To enable smooth transitions between force tracking and impedance control—particularly in cases of contact loss—a shaping function is used to modulate the force control command. Additionally, the robot’s redundancy is exploited to shape the posture, while satisfying joint limits, avoiding singularities, and preventing self-collisions between the arms. The effectiveness of the proposed whole-body UFIC controller is validated through simulations and real-world experiments with the service robot GARMI performing several daily tasks.
BibTeX
@inproceedings{iros2025_awholebodyunifie,
title = {A Whole-Body Unified Force-Impedance Control for Non-holonomic Service Robots},
author = {Moein Forouhar and Hamid Sadeghian and Abdeldjallil Naceri and Alexander König and Sami Haddadin},
booktitle = {IROS 2025},
year = {2025}
}