Background
Bipedal Locomotion
Locomotion refers to the physical methods and mechanisms that enable a humanoid robot to move its body from one place to another. (Low-level motor control)
Navigation
Navigation involves the robot’s ability to determine its position and plan paths to reach desired locations. (High-level planning)
Whole-body Manipulation
Antropomorphic manipulation has been the inspiration for bimanual manipulation, loco-manipulation, dexterous manipulation. The ultimate form of the antropomorphic manipulation is whole-body manipulation, referring to the ability to manipulation objects using any part of one’s body.
No robot self mobility (locomotion)
Loco-manipulation
As suggested by its name, loco-manipulation involves both the movement of the objects throught manipulation and the mobility of the robot self through locomotion.
No All surface interaction (whole-body)
Whole-body loco-manipulation
Humanoid whole-body loco-manipulation needs to schedule contact for all limbs to simultaneously achieve robust movement and safe object interaction.
Tactile Sensing
Tactile sensing is yet an underexplored modality for advancing humanoid loco-manipulation, providing direct contact information necessary for tasks involving complex interactions with environments and objects.