I am programming the robot to mimic some of the postures we (as human being) exhibit in our daily life. Program some of these mundane postures and trigger them at the appropriate moment can really surprise the audience. Sit, get up from a chair or a bench, take an object, walk with different moods, leaning against a wall, crossing an obstacle… are some of the postures I am studying.
Today I focus on “rest against a wall”. There are many ways to lean against a wall: contact with the wall through your back or your foot. Also, there is the sideways way of leaning against the same wall where the contact with the wall is achieve though the shoulder or the hand.
The video below shows the example “sideway leaning against the wall – contact with the hand”.
Meanwhile, it is also a good exercise for testing/improving the software (forward/inverse kinematics, sequence of actions combined with sensor feedback).
The next step is to stop leaning against the wall, go back on two feet in order to resume walking (for instance).