Whole-Body Control

Here, we demonstrate the whole-body control using the chicken-head task on rough, industrial terrain in an outdoor setting: The end-effector is to be kept steady while the base follows a fast figure-eight reference motion with high acceleration/jerk profiles. Shakiness here is due to the stiff suspension and the poor condition of the asphalt/tarmac.

Sensor Placement

In this task, we demonstrate the autonomous placement of sensors on a training facility for the petrochemical industry.