When one sees videos of recent robots achieving multi-contact manipulation or locomotion, one wonders why they are slow when they come to contacts? The main reason in all cases is simple: robots fear impacts. Unlike humans, most of the robots can not mitigate high impulse by design. Rather than being rigidly mounted on a fixed-base, under-actuated robots have to balance themselves using contacts that (i) can only provide unilateral supporting forces, (ii) include limited contact areas, e.g., a partial foothold, and (iii) can change over time. Thus to enable:
swift motion while physically interacting with the environment with multiple complex impacts,
exploiting energetic contact transitions for robot manipulation and locomotion.
We propose to bring the latest developments to answer specific questions on both hardware design and
motion generation paradigms that include: