iCub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts

iCub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts

This paper details the implementation on the humanoid robot iCub of state-of-the-art algorithms for whole-body control. We regulate the forces between the robot and its surrounding environment to stabilize a desired robot posture. We assume that the forces and torques are exerted on rigid contacts....

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Bibliographic Details
Main Authors: Francesco eNori, Silvio eTraversaro, Jorhabib eEljaik, Francesco eRomano, Andrea eDel Prete, Daniele ePucci
Format: Article
Language:English
Published: Frontiers Media S.A. 2015-03-01
Series:Frontiers in Robotics and AI
Subjects:
Tactile sensors
Rigid contacts
whole-body control
floating base robots
noncoplanar contact
force sensors.
Online Access:http://journal.frontiersin.org/Journal/10.3389/frobt.2015.00006/full

Internet

http://journal.frontiersin.org/Journal/10.3389/frobt.2015.00006/full

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