Distributed tactile-sensor control paper demonstrates multi-contact motions on RHP Kaleido

Key points

• The paper develops whole-body multi-contact motion control using deformable distributed tactile sensors mounted on humanoid limbs.
• The authors demonstrate motions including forearm-supported stepping and thigh-contact balancing on the life-sized RHP Kaleido humanoid.
• The work gives Kaleido/RHP a concrete benchmark for multi-contact humanoid control with distributed tactile sensing.