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

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).

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