IEEE-RAS TECHNICAL COMMITTEE ON WHOLE-BODY CONTROL

The class of Whole-Body Control (WBC) Systems represent a wide range of complex movement skills in the form of low dimensional task descriptors which are projected on to the robot’s actuators, such exploiting the full capabilities of the entire body of redundant, floating‐based robots in compliant multi‐contact interaction with the environment, to execute any single task, when feasible, and simultaneous multiple tasks.