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:

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