Autonomous Valve Turning with An Atlas Humanoid Robot

Atlas humanoid robot performs the task of fast valve turning. An operator was only required to issue a supervisory command to launch valve identification, motion planning, biped locomotion and valve manipulation. By using compliant motion control in dual-arm, palmar (non-prehensile) manipulation, robust valve turning could achieve at speeds which is comparable to human performance. The video was shown during IEEE-RAS International Conference on Humanoid Robots, 2014 together with the conference paper entitled “Autonomous Valve Turning with An Atlas Humanoid Robot”