Whole-body Motion in Humans and Humanoids
نویسندگان
چکیده
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 advanceProceedings of the Workshop on New Research Frontiers for Intelligent Autonomous Systems (NRF-IAS) Venice (Italy), July 18-19, 2014 ISBN 978-88-95872-08-7
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