Modeling and control of humanoid robots in dynamic environments: iCub balancing on a seesaw
Nov 1, 2017ยท,,,,,,ยท
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Gabriele Nava
Daniele Pucci
Nuno Guedelha
Silvio Traversaro
Francesco Romano
Stefano Dafarra
Francesco Nori
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)