SciPy is an open-source scientific computing library for the Python programming language. Since its initial release in 2001, SciPy has become a de facto standard for leveraging scientific algorithms in Python, with over 600 unique code contributors, thousands of dependent packages, over 100,000 dependent repositories and millions of downloads per year. In this work, we provide an overview of the capabilities and development practices of SciPy 1.0 and highlight some recent technical developments.

Abstract-Our work builds largely on Nagasaka's stabilizer in multi-contact motion [1]. Using a sequence of contact stances from an offline multi-contact planner, we use first a Model Predictive Controller to generate a dynamic trajectory of the center of mass, then a whole-body closed-loop model-based controller to track it at best. Relatively to Nagasaka's work, we allow frame changes of the preferred force, provide a heuristic to compute the timing of the transition from purely geometrical features and investigate the synchronization problem between the reduced-model preview control and the whole-body controller. Using our framework, we generate a wide range of 3D motions, while accounting for predictable external forces, which includes transporting objects. Simulation scenarios are presented and obtained results are analyzed and discussed.

We describe the research and integration methods we developed to give the HRP-2 humanoid robot the capability to climb vertical industrial-norm ladders. Our approach makes use of our multi-contact planner and multiobjective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds additional intermediary tasks accounting for geometric uncertainties and specific grasps procedures to be realized by our multi-objective model-based QP controller. This controller provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are to be made on the HRP-2, and parts of software are to be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, which can be found in nuclear power plants and large scale manufacturing such as shipyards, aircraft factories and construction sites.Keywords Humanoid robots · multi-contact motion planning and control · field humanoid robots · disaster humanoid robots Notice that : (i) it is not possible to put two feet on a same rung (ii) closed grippers do not grab firmly the rungs (iii) each foot can be freely positioned on each rung: the right foot is rotated to increase the reaching range of the left arm toward the higher rung.