A repository for controlling the KUKA lbr iiwa or med with cartesian impedance control using ROS2.
| ROS2 Distro | Controller | FRI library | LBR Stack |
|---|---|---|---|
| Humble |  |
 |
 |
| Jazzy |  |
|
 |
The installation guide is available in the Wiki page
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}}