update impedance4mm website

_paper_websites/impedance4mm.md

@@ -32,8 +32,11 @@ links: # If you have other website for the project, github repos, datasets, etc.
     - name: Code
       icon: bi-github
       url: https://github.com/tud-amr/mobile-manipulator-compliance
-    - name: Clearpath Blog
+    - name: Poster
+      url: "/assets/images/papers/impedance4mm/images/compliant_mm_iros_poster.pdf"
+    - name: Clearpath Blog Post
       url: https://clearpathrobotics.com/blog/2024/07/delft-university-of-technology-advances-compliance-behavior-with-dingo-o-mobile-manipulator/
+
 ---
 
 <div class="row row-cols-1 row-cols-sm-2 row-cols-md-2 g-2">
@@ -42,7 +45,7 @@ links: # If you have other website for the project, github repos, datasets, etc.
     <div class="teaser-video d-flex justify-content-center">
       <div class="ratio ratio-16x9">
         <video id="teaser" autoplay="" muted="" controls="" loop="" playsinline="">
-          <source src="{% include fix_link.html link='/assets/images/papers/impedance4mm/videos/guide_shortened.mp4' %}" type="video/mp4">
+          <source src="{% include fix_link.html link='/assets/images/papers/impedance4mm/videos/guide_shortened_convert_reduced.mp4' %}" type="video/mp4">
         </video>
       </div>
     </div>
@@ -65,22 +68,52 @@ links: # If you have other website for the project, github repos, datasets, etc.
   </div>
 </div>
 
-<h2> Abstract </h2>
+<h4> Abstract </h4>
 <p align="justify">
 As robots shift from industrial to human-centered spaces, adopting mobile manipulators, which expand workspace capabilities, becomes crucial. In these settings, seamless interaction with humans necessitates compliant control. Two common methods for safe interaction, admittance, and impedancecontrol, require force or torque sensors, often absent in lowercost or lightweight robots. This paper presents an adaption of impedance control that can be used on current-controlled robots without the use of force or torque sensors and its application for compliant control of a mobile manipulator. A calibration method is designed that enables estimation of the actuators’ current/torque ratios and frictions, used by
 the adapted impedance controller, and that can handle model errors. The calibration method and the performance of the designed controller are experimentally validated using the Kinova GEN3 Lite arm. Results show that the calibration method is consistent and that the designed controller for the arm is compliant while also being able to track targets with fivemillimeter precision when no interaction is present. Additionally, this paper presents two operational modes for interacting with the mobile manipulator: one for guiding the robot around the workspace through interacting with the arm and another for executing a tracking task, both maintaining compliance to external forces. These operational modes were tested in realworld experiments, affirming their practical applicability and effectiveness.
 </p>
 
+<h4> Calibration Method - Video </h4>
+<div class="row row-cols-1 row-cols-sm-1 row-cols-md-1 g-1">
+  <div class="col">
+    <div class="teaser-video d-flex justify-content-center">
+      <div class="ratio ratio-16x9">
+        <video id="teaser" autoplay="" muted="" controls="" loop="" playsinline="">
+          <source src="{% include fix_link.html link='/assets/images/papers/impedance4mm/videos/calibration_convert_reduced.mp4' %}" type="video/mp4">
+        </video>
+      </div>
+    </div>
+    <p align="center">
+    Determines the ratio between actuator currents and joint torques as well as the friction loss. Cam account for model errors.
+    </p>
+  </div>
+</div>
+
+<h4> Compliance for Mobile Manipulators consisting of off-the-shelf Components </h4>
+
   <div class="image-grid text-center mb-2">
     <div class="row row-cols-1 row-cols-sm-2 row-cols-md-3 g-2">
       <div class="col">
+        <h5 align="center">Controlling the base</h5>
         <img class="img-fluid object-fit-contain" src="{% include fix_link.html link='/assets/images/msc_projects/24_JelmerDeWolde_CompliantMobileManipulation/base_control_reduced.png' %}" alt="Image 1">
+        <p align="center">
+        The base follows the end-effector
+        </p>  
       </div>
       <div class="col">
+      <h5 align="center">Guidance Mode</h5>
         <img class="img-fluid object-fit-contain" src="{% include fix_link.html link='/assets/images/msc_projects/24_JelmerDeWolde_CompliantMobileManipulation/guidance_mode.png' %}" alt="Image 1">
+        <p align="center">
+        Traget defined in base frame
+        </p> 
       </div>
       <div class="col">
+      <h5 align="center">Tracking Mode</h5>
         <img class="img-fluid object-fit-contain" src="{% include fix_link.html link='/assets/images/msc_projects/24_JelmerDeWolde_CompliantMobileManipulation/tracking_mode.png' %}" alt="Image 1">
+        <p align="center">
+        Traget defined in world frame
+        </p>      
       </div>
     </div>
   </div>