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About Whole-Body-Control

Special issues and TC-related publications:

Special Issue on
Whole-Body Control for Robots in the Real World,
in International Journal of Humanoid Robotics, 13(1), 2016
Guest Editors: F. Moro, M. Gienger, A. Goswami, O. Khatib, E. Yoshida

Special Issue on
Whole Body Control of Contacts and Dynamics for Humanoid Robots,
in Autonomous Robots, 40(3), 2016
Guest Editors: S. Ivaldi, J. Babic, M. Mistry, R. Murphy

Special Issue on
Multimodal Robot Control
in Robotics and Autonomous Systems, 2017
Guest Editors: A. Cherubini, Y. Mezouar, D. Navarro-Alarcon, J.A. Corrales-Ramon
Whole-Body Control (TC Spotlight)
IEEE Robotics & Automation Magazine (RAM), September 2017
Authors: F.L. Moro, L. Sentis, J. Park, C.G. Atkeson, M. Gienger, A. Goswami, S. Kajita, O. Khatib, J. Kuffner, D. Orin, C. Ott, J. Pratt, L. Righetti, B. Siciliano, R. Tedrake, E. Yoshida
Part in Humanoid Robotics: A Reference (2019)
Title: “Part X: Humanoid Sensing, Actuation, and Intelligence”, pp. 2437-2594
Part-Editor: J. Park
Editors: A. Goswami and P. Vadakkepat
Part in Humanoid Robotics: A Reference (2019)
Chapter Name: “Whole-Body Control of Humanoid Robots”, pp. 1161-1183
Authors: F.L. Moro, L. Sentis
Part in Humanoid Robotics: A Reference (2019)
Chapter Name: “Mechanism Design of DLR Humanoid Robots”, pp. 637-662
Authors: C. Ott et al.
Humanoid Robot Applications in Real World Scenarios
IEEE Robotics & Automation Magazine (RAM), December 2019
Authors: E. M. Hoffman, S. Caron, F. Ferro, L. Sentis, N. Tsagarakis
Towards Real-World Deployment of Legged Robots
Frontiers, 2021
Topic Editor: L. Sentis

 

Support and organization of conference workshops and schools:

Conference Workshops and Major Events
Year Type Location Title
2021 Workshop IROS Impact-Aware Robotics
2021 Workshop Humanoids Floating-base Robots in Manufacturing and Logistics Operations: Opportunities and Challenges
2021 Workshop ICRA Teleoperation of Dynamic Legged Robots in Real Scenarios
2021 Workshop ICRA Towards Real-World Deployment of Legged Robots (5th)
2020 Workshop IROS MIT-Cheetah Workshop
2020 Workshop IROS Bringing constraint-based robot programming to real-world applications
2020 Workshop ICRA Towards Real-World Deployment of Legged Robots (4th)
2019 Workshop ICRA Continuous management and scheduling of multiple simultaneous prioritized tasks for redundant robots
2019 Workshop ICRA Towards Real-World Deployment of Legged Robots
2019 Workshop ICRA

Toward Online Optimal Control of Dynamic Robots: From Algorithmic Advances to Field Applications

2018 Workshop IROS Humanoid Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions
2018 Workshop ICRA Cognitive Whole-Body Control for Compliant Robot Manipulation
2018 Workshop ICRA

Dynamic Legged Locomotion in Realistic Terrains: Algorithmic and Physical Performance Advancements and Challenges

2018 Winter School Genoa, Italy International Winter School on Humanoid Robot Programming
2017 Workshop Humanoids

Locomotion and Manipulation: Unifying Solutions Across Aerial and Terrestrial Regimes

2017 Workshop ICRA

Robust Perception, Planning, and Control for Legged Robot Locomotion in Challenging Domains

2016 Workshop IROS

The Mechatronics behind Force/Torque Controlled Robot Actuation: Secrets & Challenges

2016 Workshop IROS

Towards a Unified Workflow for Multi­contact Motion on Legged Robots: Challenges in Planning, Optimization and Control

2016 Workshop IROS

See, Touch and Hear: 2nd Workshop on Multimodal Sensor-based Robot Control for HRI and Soft Manipulation

2016 Workshop ICRA

Legged Robot Falling: Fall Detection, Damage Prevention, and Recovering Actions

2016 Workshop ICRA

Robust Optimization-Based Planning and Control for Legged Robots

2015 Workshop IROS

See and Touch: 1st Workshop on multimodal sensor-based robot control for HRI and soft manipulation

2015 Workshop RSS

Towards a Unifying Framework for Whole-Body and Manipulation Control

2015 Workshop ICRA

“Get in Touch!”: tactile & force sensing for autonomous, compliant, intelligent robots

2015 Workshop Humanoids

Proprioceptive and Exteroceptive Data Fusion for State Estimation and Whole-Body Control of Humanoid Robots

2014 Workshop Humanoids

Redundancy, inequalities, and the mathematical tools to address them

2014 Workshop IROS

Whole-Body Control for Robots in the Real World