Modeling and control of humanoid robots in dynamic environments: iCub balancing on a seesaw

Nov 1, 2017ยท
Gabriele Nava
Gabriele Nava
,
Daniele Pucci
,
Nuno Guedelha
,
Silvio Traversaro
,
Francesco Romano
,
Stefano Dafarra
,
Francesco Nori
ยท 0 min read
Abstract
Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be sufficient for achieving a stable robot behavior. This paper presents a modeling and control framework for balancing humanoid robots in contact with a dynamic environment. We first model the robot and environment dynamics, together with the contact constraints. Then, a control strategy for stabilizing the full system is proposed. Theoretical results are verified in simulation with robot iCub balancing on a seesaw.
Type
Publication
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)