Modeling and Control of Humanoid Robots in Dynamic Environments: iCub Balancing on a Seesaw

Gabriele Nava, Daniele Pucci, Nuno Guedelha, Silvio Traversaro, Francesco Romano, Stefano Dafarra, Francesco Nori

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.

Knowledge Graph



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