Benchmarking Humanoid Locomotion and Standing Performances during Dynamic Autonomous Bi Manipulation of Objects (HumaBiMan) Projects uri icon


  • European Research Project


  • GA-779963/Subproject HumaBiMan

date/time interval

  • February 19, 2021 - June 30, 2022


  • HumaBiMan project focusses on a whole-body humanoid robot stability during the dual
    standing manipulation. The robot balance with/without holding a box of unknown weight
    during its motion among the shelfs with slippery floor. Taking advantage of the use of the
    resources of the RoboticsLab-UC3M research group, the technical purpose of this project is
    to benchmark existing and new adaptive whole-body controllers developed for the humanoid
    robot TEO1,2. The development of these controllers is based on different bioinspired
    techniques such as axes Fractional-PID controllers and dynamically adaptative LIRM, that
    need rich experimental data to be improved. The target scenarios of this proposal are i) the
    standing moving surface testbed (COMTEST) and ii) the standing during manipulation
    among shelfs testbed. They provide the appropriate environment to improve the general
    whole-body stability control algorithms and to benchmark the performance in different
    situations during standing manipulation.