Lead Partner IIT Revision Final

Dissemination level Public This deliverable focuses on the control of compliant actuators compliant robots developed within the AMARSI project, particularly the compliant humanoid CO-MAN developed at IIT and the compliant quadruped robot Cheetah developed at EPFL. The deliverable summarizes the outcome of tasks T2.5 and T2.6 related to the implementation and validation of different control strategies to regulate the motion of these soft body robots. These are activities include strategies to regulate the motion/impedance at the joint level as well as up at the center of mass (COM) and whole body level. The application of these controllers and their performance are validated on different tasks related to body stabilization against physical inter-actions and external push disturbances as well as in the generation of gaits based on kinematic motion primitives. To enhance the level of balancing capabilities impedance regulation explores optimal strategies for the selection of stiffness in particular joints while soft interactions with the environment are triggered to per