Han-Long Li

AMBIT: Anticipatory Multimodal Body Recruitment for Bimanual Tracking on a Humanoid

A humanoid with 5-DoF arms cannot track generic bimanual end-effector trajectories with its arms alone; pelvis and waist motion must be recruited, but which motion, and when, is not uniquely determined. On a Unitree R1 in fixed double support, the set of dynamically valid recruitment strategies (pelvis pose and waist t...