IEEE Robotics & Automation Magazine - September 2017 - 14

to apply WBC methods to real hardware
robots in a realistic application scenario. This
led to the identification of current main limitations of WBC approaches and to an effort to
move from pure theory to practice. Second,
several WBC software were released and made
publicly available.
Join Us!
Imagine a multi-degrees-of-freedom humanoid
robot-waiter working in a restaurant of the
future, attempting to accomplish a number of
simultaneous tasks. Some tasks involve precise
motion (e.g., pouring some water in the glass of
a diner), and some involve reliable maintenance of constraints (e.g., holding a tray full of
glasses). At the same time, the robot has to
maintain balance and not fall down. Some tasks
are kinematic, and some involve significant
dynamics. How can the robot do so many things
at the same time? What is the most reliable control that is fast enough to compute the best strategy for the robot-waiter? These questions lie at
the core of WBC.
If you are a young researcher with a strong
interest in solving problems of this kind, or if you
simply want to stay updated on the WBC-TC
activities, join us by sending a request to the WBCTC cochairs.
References
[1] F. L. Moro, L. Sentis, "Whole-body control of humanoid robots," in Humanoid Robotics: A Reference, A. Goswami and P. Vadakkepat, Eds. Springer, to be published.
[2] S. Kuindersma, R. Deits, M. Fallon, A. Valenzuela, H. Dai, F.
Permenter, T. Koolen, P. Marion, and R. Tedrake, "Optimizationbased locomotion planning, estimation, and control design for
the Atlas humanoid robot," Autonomous Robots, vol. 40, no. 3, pp.
429-455, 2016.
[3] B. Henze, M. A. Roa, and C. Ott, "Passivity-based whole-body
balancing for torque-controlled humanoid robots in multi-contact
scenarios," Int. J. Robotics Research, vol. 35 no. 12, pp. 1522-1543,
2016.
[4] B. Henze, A. Dietrich, and C. Ott, "An approach to combine
balancing with hierarchical whole-body control for legged humanoid robots," IEEE Robotics and Automation Letters, vol.  1,
no. 2, pp. 700-707, 2016.
[5] D. E. Orin, A. Goswami, S.-H. Lee, "Centroidal dynamics
of a humanoid robot," Autonomous Robots, vol. 35, no. 2-3, pp.
161-176, 2013.



Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2017

IEEE Robotics & Automation Magazine - September 2017 - Cover1
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IEEE Robotics & Automation Magazine - September 2017 - Cover3
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