Dynamic Surface Cleaning

• Task: The humanoid must maintain stable contact and track a line across a large window surface while kneeling, sitting, or standing.
• Challenge:
  • Base (pelvis) height and orientation constantly change.
  • The end-effector ( trajectory must remain stable despite lower-body disturbances.
• Extension: Once tracking is stabilized, hybrid force control will be incorporated to apply appropriate cleaning pressure on the surface.

This task reflects hybrid force–motion coordination, essential for real-world manipulation such as window cleaning, polishing, or painting.

https://youtube.com/shorts/kvTpI_aA34I

창문청소.mp4