Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots

Abstract

Fig. 1: A Digit robot executing a variety of whole-body motions using the Kinodynamic Fabrics Framework. (Top) Digit lifts a bulky box of non-uniform, shifting mass distribution which is not modelled in the framework. (Middle) Digit plays cornhole. (Bottom) Digit transports a package to a desired location. Digit is built by Agility Robotics.