Whole-Body Stabilization for Visual-Based Box Lifting with the COMAN+ Robot

In this paper, we present the integration of multiple components of a full-size humanoid robot system, including control, planning, and perception methods for manipulation tasks. In particular, we introduce a set of modules based on visual object localization, whole-body control, and real-time compliant stabilization on the robot. The introduced methodologies are demonstrated on a box lifting task, performed by our newly developed humanoid bipedal robot COMAN+.