This article discusses the various researches being undertaken to study and develop Whole-Body Operational Space Control (WBOSC). The WBOSC emerges as a capable framework for real-time unified control of motion and force of humanoid robots. It could theoretically outperform high-speed industrial manipulators while providing the grounds for new types of service-oriented applications that require contact, by exploiting the rigid body dynamics of systems. By relying on joint torque sensors, WBOSC opens up the potential to interact with the physical environment using any part of the robot’s body while regulating the effective mechanical impedances to safe values. With ControlIt!, the developers provide a strict and easy way to use the WBOSC API consisting of compound tasks which define the operational space, and constraint sets that define the contacts with the environment as well as dependent degrees of freedom. ControlIt! is easy to connect to high level planners.
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