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P. Balatti, L. Muratore, L. Peternel, E. M. Hoffman, N. Tsagarakis, A. Ajoudani: "A Manipulation Framework for Debris Removal using WALK-MAN Humanoid", Human-Friendly Robotics (HFR), November 2017.

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In this paper we propose a semi-autonomous control framework for manipulation tasks that is focused on debris removal setups. The proposed method enables an efficient and safe removal of long stick-like shaped debris. The manipulation module includes seven motion primitives. Due to the inevitability of natural/man-made disasters, the development of the presented novel framework will be important for the deployment of effective disaster response robotic systems. To validate the proposed method we performed experiments in a debris removal setup with the full-size humanoid robot WALK-MAN, at first through simulation studies using Gazebo and then in real life scenarios.