Torque Control balancing on iCub@Heidelberg

Published on May 29, 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.