An ICRA 2020 Keynote by Jaeheung Park. As more complicated robots such as humanoid robots are expected to operate in complex environments, whole-body control has greatly progressed for robots operating in multiple contact scenarios. Now, various approaches can be used to create the compliant whole-body motion of robots, depending on hardware and control methods. In this talk, I would like to share my experience of implementing compliant whole-body motion control. The first one is on a torque-controlled robot using a whole-body controller based on the operational space control framework, and the second one is on a position-controlled robot by creating compliant motion using disturbance estimation. Implementation issues will be also discussed in these approaches. Finally, other exciting work in our research group will be briefly presented.
Abstract: Jaeheung Park (Seoul National University)