%0 Conference Paper %B IEEE International Conference of Intelligent Robots and Systems (IROS 2016) %D 2016 %T Toward whole-body loco-manipulation: Experimental results on multi-contact interaction with the Walk-Man robot %A E. Farnioli %A M Gabiccini %A A. Bicchi %K Robotics %X

In this paper a quasi-static framework for optimally controlling the contact force distribution is experimentally verified with the full-size compliant humanoid robot Walk-Man. The proposed approach is general enough to cope with multi-contact scenarios, i.e. robot-environment interactions occurring on feet and hands, up to the more general case of whole-body loco-manipulation, in which the robot is in contact with the environment also with the internal limbs, with a consequent loss of contact force controllability. Experimental tests were conducted with the Walk-Man robot (i) standing on flat terrain, (ii) standing on uneven terrain and (iii) interacting with the environment with both feet and a hand touching a vertical wall. Moreover, the influence of unmodeled weight on the robot, and the combination with a higher priority Cartesian tasks are shown. Results are presented also in the attached video.

%B IEEE International Conference of Intelligent Robots and Systems (IROS 2016) %I IEEE %C Danjeon, Korea, October 10-14 2016 %U http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7759225 %1

softhands e walkman

%R 10.1109/IROS.2016.7759225