With growing research interest in humanoid robotics, robots have become increasingly proficient in performing many different, non-trivial tasks, such as running, jumping, climbing stairs, and manipulating objects. In most cases, however, each of these tasks is addressed individually, and this imposes a fundamental limitation on the use of robots in the real world. While humans may occasionally be outperformed by robots in a single task, they are vastly more capable of adapting and combining behaviors to solve multiple different tasks. This flexibility allows humans to generalize their knowledge, and to successfully perform tasks that they have never explicitly faced before. This also opens the door for simultaneous execution of multiple tasks. To address these constraints, Whole-Body Control (WBC) has been proposed as a promising research direction.

The class of 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.




List of Topics

The WBC TC will cover, but not be limited to, the following topics:

  • Whole-body position/force control
  • Model-based dynamics control
  • Centroidal momentum
  • Multi-contact forces distribution
  • Torque-control
  • Compliant body behavior
  • Agile locomotion and dexterous manipulation
  • Real Time Implementation of Whole-Body Control