6. Usage Guide

6.0.1. Overview

The behavior system presented in this thesis can be used to author fast, resilient, and adaptable loco-manipulation behaviors for humanoid robots. Examples include door traversals and sorting objects on tables. This is in the pursuit of automating useful work and providing robotic drop-in replacements for humans for dull, dirty, or dangerous jobs. In this chapter, we’ll cover the system’s limitations, prerequisites, and how to use it.