WALK-MAN: A High Performance Humanoid Platform for Realistic Environments

WALK-MAN: A High Performance Humanoid Platform for Realistic Environments

The video was made by: A Settimi, D Caporale, E. Farnioli, M Ferrati, P. Kaiser, M. Grotz, and D. Kanoulas

Demo details: The robot needs to remove an obstacle from its path using its arms while locomoting (task 1), pass over an obstacle using support surfaces in the environment (task 2), and finally clear the environment around a valve and turn it (task 3).

Contributions by: UNIPI/IIT for task 1 & 2, KIT/IIT for task 3.

Related publications:
1. "WALK-MAN: A High Performance Humanoid Platform for Realistic Environments",
N. G. Tsagarakis, et al
In the Journal of Field Robotics, JFR 2016.

2. "An Affordance-Based Pilot Interface for High-Level Control of Humanoid Robots in Supervised Autonomy",
Peter Kaiser, Markus Grotz, Luca Muratore, Alessio Rocchi, Enrico Mingo Hoffman, Nikos Tsagarakis, and Tamim Asfour.
In the 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016.

3. "Motion primitive based random planning for loco-manipulation tasks"
A. Settimi, D. Caporale, P. Kryczka, M. Ferrati, L. Pallottino
In the 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016.

4. "Toward whole-body loco-manipulation: Experimental results on multi-contact interaction with the Walk-Man robot"
E. Farnioli, M. Gabiccini, A. Bicchi
In the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016.

5. "Opensot: a whole-body control library for the compliant humanoid robot coman"
A. Rocchi, E. Mingo Hoffman, D. Caldwell, N. Tsagarakis
In the 2015 IEEE International Conference on Robotics and Automation, ICRA 2015

Partners:
1. Istituto Italiano di Tecnologia (IIT)-ADVR
2. École Polytechnique Fédérale de Lausanne (EPFL)-BIOROB
3. Università di Pisa (UNIPI)-Research Centre “Enrico Piaggio”
4. Karlsruhe Institute of Technology (KIT)-H2T
5. Université Catholique de Louvain (UCL)-CEREM