First Implementation of Whole-Body Compliant Control with Internal Force Optimization on Hume

This movie shows the first successful implementation of the whole-body compliant controller ( IEEE TRO 2010) on Hume using its series elastic actuators . During the single contact phase, the robot’s hip height and Saggital position, its torso orientation, and the trajectory of the swinging foot are controlled. During the dual contact phase the hip height, torso orientation, and the internal tension between the feet are controlled, instead. In both cases we use floating base dynamic models with contact constraints.

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