| Humble | Jazzy | Rolling | |
| Branch main |
 |
 |
 |
| Branch kuka-prop-ctrl |
 |
 |
 |
This repository aim to create a robot independent torque controller based on ROS2 controllers. There is a base controller that communicate with the hardware interface of the robot, on top of that controller different types of controllers can be implemented. For now a cartesian impedance controller, a joint impedance controller and a gravity compensation are implemented.
If you want to use just the KUKA's proprietary controllers sending just the target joint position checkout the kuka-prop-ctrl branch.
Check out their use in the KUKA LBR example here!
The structure of the code and some libraries have been taken from the repo Cartesian Controllers.
If you use these controllers, please consider citing our work and leaving us a star to support the project. 🦾 🫶
@article{nardi2026anatomy,
author={Nardi, Davide and Lamon, Edoardo and Fontanelli, Daniele and Saveriano, Matteo and Palopoli, Luigi},
journal={IEEE Robotics and Automation Letters},
title={An Anatomy-Aware Shared Control Approach for Assisted Teleoperation of Lung Ultrasound Examinations},
year={2026},
volume={11},
number={3},
pages={2570-2577},
keywords={Robots;Ribs;Probes;Ultrasonic imaging;Skin;Solid modeling;Computational modeling;Three-dimensional displays;Biological system modeling;Cameras;Medical robots and systems;physical human-robot interaction;telerobotics and teleoperation},
doi={10.1109/LRA.2026.3653292}}