Floating Base Robots
The example can be found in examples/rh5/rh5_legs_floating_base.cpp, documentation can be found here. To run the tutorial, type
cd build/tutorials/rh5
./rh5_legs_floating_base
Here, we use the KDL-based robot model and configure a floating base, i.e., a 6-DOF virtual linkage, which attaches the robot base to the world frame. Note that the robot is underactuated in this case, as we can only control the floating base joints indirectly by controlling the feet contacts with the ground.