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You were asked to list the specific questions you would like answered during this workshop.

In no particular order, you responded with:

How should we handle modeling error and poor torque control?

What about hydraulic control and hardware limits?

Model-based control?

What's the best way to do force control on Atlas?

How much can we gain from sys id / joint level tuning?

What experience do we have with inverse dynamics approaches on biped robots and how is the performance affected by model and noise uncertainty, imperfect state estimation and a limited control bandwidth?

What is a trajectory representation that bridges the gap between a) providing an intuitive way of expressing costs on the task of interest and b) hinting on a good choice of gains for control?

What are the differences between approaches at attending organizations?

Is there a controller class between heuristics (Raibert’s controllers) controllers (energy efficient/high performance but single task/robot oriented) and model-based controllers (Highly versatile but low energy efficiency)?

Is state estimation a limitation to performance and reliability?

From the DRC experience, is Atlas a suitable humanoid robot for disaster response? What is it missing?

What about the World Wide Humanoid Robots Olympics Games?

Insertion of competition in humanoid research: speed up or slow down research?