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Compliant Control of Whole-body Multi-contact Behaviors in Humanoid Robots

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Motion Planning for Humanoid Robots

Abstract

In 2008, the US National Intelligence Council published a report listing six disruptive technologies by the year 2025. It included subjects in biology, energy, robotics, and information technology. On the subject of robotics, it reports: “Robots have the potential to replace humans in a variety of applications with far-reaching implications. [...]. The development and implementation of robots for elder-care applications, and the development of human-augmentation technologies, mean that robots could be working alongside humans in looking after and rehabilitating people”. In this spirit, we explore here a methodology to enable greater maneuverability and interactivity of robots in human environments (Figure 2.1).

As the expectation of humanoid robots to operate as human helpers and social companions grows, the need to improve their motor skills becomes increasingly important. Equipped with highly dexterous anthropomorphic systems, sensors for environmental awareness, and powerful computers, humanoids should be capable of handling many basic chores that humans do. Yet they cannot, not to the level that would make them practical.

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  1. Department of Mechanical Engineering, The University of Texas at Austin, 78712, Austin, TX, USA

    Luis Sentis

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  1. Luis Sentis
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  1. Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba Central 2, Umezono, 1-1-1, 305-8568, Tsukuba-shi, Ibaraki, Japan

    Kensuke Harada , Eiichi Yoshida  & Kazuhito Yokoi ,  & 

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Sentis, L. (2010). Compliant Control of Whole-body Multi-contact Behaviors in Humanoid Robots. In: Harada, K., Yoshida, E., Yokoi, K. (eds) Motion Planning for Humanoid Robots. Springer, London. https://doi.org/10.1007/978-1-84996-220-9_2

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  • DOI: https://doi.org/10.1007/978-1-84996-220-9_2

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