Dr. Enrico Mingo was invited at INRIA visiting Dr. Serena Ivaldi’s group, to collaborate on the topic of compliant whole-body control for humanoid robots involved in human-robot collaboration tasks. This collaboration started considering some common topics shared by the CogIMon project and the AnDy EU project. The aim was to implement a whole-body compliant stabilizer using the control framework OpenSoT (developed by IIT and used in the CogIMon project) for the iCub platform, used inside the AnDy project. The integration was successfullly tested for three main tasks: i) whole-body squat, ii) whole-body bi-manual manipulation control using interactive markers and iii) whole-body compliance during external perturbation while carrying an object.
The achieved results prove the benefit of the software tools and algorithms developed inside the CogIMon project for the robotics community. Possible future collaborations and publications has also been considered starting from this first achievements.