Valkyrie, aided by a new whole-body compliant control and planning architecture, turns an industrial valve while being assisted by a skilled operator. One of the main innovations of the operations and control architecture is to provide rapid programming tools that allow skilled users to create sensor-based behaviors at runtime without the need to teleoperate the robot. Valkyrie is a collaborative effort lead by NASA's Johnson Space Center where UT Austin plays a key role on providing a sensor-based Whole-Body Compliant Control Architecture for manipulation and mobility.
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