Within the scope of the DFG funded project "MultiKon" we accomplished great achievements. The main objective was to teach our humanoid robot LOLA how to use explicit hand support during walking. For this, the environment of the robot and thus potential contact areas should be autonomously perceived after which a corresponding motion has to be planned and executed. The following videos explain our developed method for motion planning and demonstrate our results through footage of successful conducted real experiments.
Humanoid Robot LOLA - Walking Pattern Generation for Autonomous Multi-Contact Locomotion
Humanoid Robot LOLA - Vision Guided Autonomous Multi-Contact Locomotion
Details on the project can be found here.