01467nas a2200145   4500008003900000245011500039210006900154260004500223520092800268653001301196100001601209700001701225700001501242856006401257       2016                          d00aToward whole-body loco-manipulation: Experimental results on multi-contact interaction with the Walk-Man robot0 aToward wholebody locomanipulation Experimental results on multic  aDanjeon, Korea, October 10-14 2016bIEEE3 a<p>In this paper a quasi-static framework for optimally controlling the contact force distribution is experimentally verified with the full-size compliant humanoid robot Walk-Man. The proposed approach is general enough to cope with multi-contact scenarios, i.e. robot-environment interactions occurring on feet and hands, up to the more general case of whole-body loco-manipulation, in which the robot is in contact with the environment also with the internal limbs, with a consequent loss of contact force controllability. Experimental tests were conducted with the Walk-Man robot (i) standing on flat terrain, (ii) standing on uneven terrain and (iii) interacting with the environment with both feet and a hand touching a vertical wall. Moreover, the influence of unmodeled weight on the robot, and the combination with a higher priority Cartesian tasks are shown. Results are presented also in the attached video.</p>
10aRobotics1 aFarnioli, E1 aGabiccini, M1 aBicchi, A.  uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7759225