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Whole-body multi-contact motion in humans and humanoids Advances of the CoDyCo European project.pdf

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Whole-body multi-contact motion in humans and humanoids Advances of the CoDyCo European project.pdf

Robotics and Autonomous Systems 90 (2017) 97–117 Contents lists available at ScienceDirect Robotics and Autonomous Systems journal homepage: /locate/robot Whole-body multi-contact motion in humans and humanoids: Advances of the CoDyCo European project Vincent Padois a, Serena Ivaldi b,c, Jan Babi? d, Michael Mistry e, Jan Peters f, Francesco Norig,* a Sorbonne Universités, UPMC Univ Paris 06, CNRS, Institut des Systèmes Intelligents et de Robotique (ISIR), 4 place Jussieu, 75252 PARIS cedex 05, France b Inria, Villers-lès-Nancy, France c CNRS Université de Lorraine, UMR 7503, Loria, Vandoeuvre-lès-Nancy, France d Jo?ef Stefan Institute, Ljubljana, Slovenia e University of Birmingham, Birmingham, United Kingdom f Max Planck Institute for Intelligent Systems and TU Darmstadt, Darmstadt, Germany g iCub Facility, Italy article info Article history: Available online 18 October 2016 Keywords: Whole-body Control Free-floating Interaction Contacts Compliance abstract Traditional industrial applications involve robots with limited mobility. Consequently, interaction (e.g. manipulation) was treated separately from whole-body posture (e.g. balancing), assuming the robot firmly connected to the ground. Foreseen applications involve robots with augmented autonomy and physical mobility. Within this novel context, physical interaction influences stability and balance. To allow robots to surpass barriers between interaction and posture control, forthcoming robotic research needs to investigate the principles governing whole-body motion and coordination with contact dynamics. There is a need to investigate the principles of motion and coordination of physical interaction, including the aspects related to unpredictability. Recent developments in compliant actuation and touch sensing allow safe and robust physical interaction from unexpected contact including humans. The next advancement for cognitive robots, however, is the ability not only to cope with unpredictable contact, but al