Mechatronics and Impedance Control

WP1 will advance motion capability by working both on the technological barriers and on the actual capability levels, and contributes to the general objectives. Global goals are: (i) to scale up the technology readiness level of the compliant humanoid COMAN as well as its physical size by applying industrialization upgrades to permit its operation in more realistic scenarios, and (ii) to provide advanced control mechanisms to deal with impedance control of complex compliant platforms.