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iCub performing YOGA++ demo
Published on Apr 28, 2016
The video shows the results of the iCub yoga++ demo on simulation (gazebo). This simulation can be replicated on Linux and OsX.
Published on Jun 8, 2015
This video shows the latest results achieved in the whole-body control of the iCub, the humanoid robot developed by the Italian Institute of Technology. In particular, it shows the performances of the balancing controller on the specific platform of iCub@Heidelberg, which has a different hardware configuration from the classical iCub.
The control of the robot is achieved by regulating the interaction forces between the robot and its surrounding environment. In particular, the force and torque exchanged between the robot's feet and the floor are regulated so that the robot keeps its balance even when strongly perturbed.
The results have been achieved by the researches working at the Italian Institute of Technology and, in particular, by those funded by the European Projects CoDyCo and Koroibot with Dr. Francesco Nori as principal investigator.
A Cartesian 6-DoF gaze controller for humanoid robots
Published on May 4, 2016
This video shows how we address the problem of controlling the 3D fixation point of a binocular, 6 Degrees-of-Freedom (DOF), antropomorhic head.
It is possible to define the fixation point as the virtual end-effector of the kinematic chain composed by the neck and the eyes. Consequently,
the control of the fixation point can be achieved using techniques for inverse kinematics and trajectory generation normally adopted for controlling
robotic arms. Further, the redundancy of the task allows for the integration of different corollary behaviors in addition to the main control loop:
vestibulo-ocular reflex (VOR), sacccadic behavior, and gaze stabilization (for a video on the gaze stabilization system, please refer to
https://youtu.be/NSGea-tCLZM)
REFERENCE PAPER: Roncone A., Pattacini U., Metta G., Natale L. 2016, 'A Cartesian 6-DoF Gaze Controller for Humanoid Robots',
Proceedings of Robotics: Science and Systems (RSS), Ann Arbor, MI, June 18-22 2016
iCub performing highly dynamic balancing via force control
Published on Jul 29, 2016
This video shows the latest results on the whole-body control of humanoid robots achieved by the Dynamic Interaction Control Lab at the Italian Institute of Technology.
The control of the robot is achieved by regulating the interaction forces between the robot and its surrounding environment. The force and torque exchanged between the robot's feet and the floor is regulated so that the robot keeps its balance even when strongly perturbed.
In particular, the control architecture is composed of two nested control loops. The internal loop, which runs at 1 KHz, is in charge of stabilizing any desired joint torque. This task is achieved thanks to an off-line identification procedure providing us with a reliable model of friction and motor constants. The outer loop, which generates desired joint torques at 100 Hz, is a momentum based control algorithm with the formalism of free-floating systems subject to constraints (i.e. Differential Algebraic Equation frameworks). More precisely, the control objective for the outer loop is the stabilization of the robot’s linear and angular momentum and the associated zero dynamics. The latter objective can be used to stabilize a desired joint configuration. The stability of the control framework is shown to be in the sense of Lyapunov. The contact forces and torques at the contacts are regulated so as to break the contact only at desired configurations. Switching between several contacts is taken into account thanks to a finite-state-machine that dictates the constraints acting on the system. The control framework is implemented on the iCub humanoid robot.
Hierarchical grasp controller using tactile feedback
Published on Oct 18, 2016
iCub uses tactile feedback to control and improve object grip.
Details in: Hierarchical Grasp Controller using Tactile Feedback, M. Regoli, U. Pattacini, Metta, G. and Natale, L., Humanoids 2016.
HeiCub walking motion
Published on Jan 5, 2016
HeiCub squat motions
Published on Jan 5, 2016
HeiCub walking with NMPC based pattern generator
Published on Oct 28, 2016
Implementation and performance analysis of walking on the humanoid robot iCub
Published on Oct 28, 2016
In this video the HeiCub robot performs walking for the first time on level ground, slope up and down and small stairs. The motion is generated by means of a ZMP based pattern generator.
The HeiCub humanoid robot is a reduced version of the iCub humanoid robot located at Heidelberg University, Germany.
HeiCub performing torque balancing with contacts switching
Published on Oct 29, 2016
In this video the HeiCub robot is performing the YOGA++ demo using the same control software developed by IIT as for the full iCub robot as in youtube.com/watch?v=UPOLcE1vwA0
The HeiCub humanoid robot is a reduced version of the iCub humanoid robot located at Heidelberg University, Germany.
iCub - Torque-Control Stepping Strategy Push Recovery - IIT
Published on Feb 15, 2017
=== How a robot can avoid to fall? ===
In this video we present the implementation on iCub of a so-called stepping-strategy, whose aim is to recover the robot balance by taking a step.
This approach mimics humans reactions to pushes, but its development resorts to simple models like the Linear Inverted Pendulum.
After the push, the robot understands it is the right moment to start moving, then it places the swing foot in a position computed depending on the perturbation, ensuring the robot won't fall once in double support.
These two informations (the trigger and the foot target position), together with the definition of a Center of Mass trajectory, constitute a planner able to provide references to the Momentum-Based Whole-Body Controller implemented on iCub. Thus, a peculiarity of this approach is the application on a torque controlled robot, providing additional robustness to impacts and foot placement errors, for example.
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