A whole-body control framework for humanoids operating in human environments

• Published in: Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006 pp. 2641 - 2648
• Main Authors: Sentis, L., Khatib, O.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 2006
• Subjects: Artificial intelligence; Collaboration; Force control; Humanoid robots; Humans; Jacobian matrices; Kinematics; Monitoring; Null space; Runtime

Tomorrow's humanoids will operate in human environments, where efficient manipulation and locomotion skills, and safe contact interactions are critical design factors. We report here our recent efforts into these issues, materialized into a whole-body control framework. This framework integrate...