Demonstration of the HOAP-3 robot dancing at various places in Switzerland. The controller used in this video allows to specify the trajectories describing the position/orientation of both hands while handling stability. To do so, a hierarchical inverse kinematics controller robust to kinematic singularities and joint limits has been implemented. It allows to adaptat the trajectories in joint space in an online manner and to adjust the different kinematic chains on-the-fly (e.g. for tool use) while the robot is standing or is seated.

Video credit: Eric Sauser.

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