This video shows an experiment where HRP-2 grasps a moving ball while walking.
The full-body motion generation is realized through a stack of tasks with priority.
Tasks can be removed and added without creating discontinuity for the robot velocity.
In this experiment task for grasping, and for moving the chest are removed and inserted
according to the position of the ball. This is different from a usual reaching behavior
because the grasping is done in addition to a preplanified walking trajectory, and visual servoing
is used to generate the control.