This chapter reports on several applications in which the control framework from Chaps. 6 and 7 was used to facilitate a whole-body motion of the humanoid robot TORO (see Chap. 5) while balancing. The applications demonstrate that the whole-body controllers can be integrated into the software ecosystem of a humanoid robot, which features a multitude of components besides the balancing controller, such as vision and planning. The variety of applications emphasizes the versatility and the robustness of the developed whole-body control approaches.


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    Title :

    Applications


    Additional title:

    Spr.Tracts in Adv.Robotics


    Contributors:


    Publication date :

    2021-11-04


    Size :

    17 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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