6 accepted papers
We present an integrated approach that provides compliant control of an iCub humanoid robot and adaptive reaching, grasping, navigating and co-manipulating capabilities. We use state-dependent dynamical systems (DS) to (i) coordinate and drive the robots hands (in both position and orientation) to g…
We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to simulate falling, swing, and torso balancing dynamics. To stabilize the motion,…
Traditional joint-space models used to describe equations of motion for humanoid robots offer nice properties linked directly to the way these robots are built. However, from a computational point of view and convergence properties, these models are not the fastest when used in planning optimization
We propose a nonlinear inverse kinematics formulation which solves for positions directly. Compared to various other popular methods that integrate velocities, this formulation can better handle fast, asymmetric, and singular-postured balancing tasks for humanoid robots. We also introduce joint posi
In this paper, we propose a novel architecture to estimate external forces applied to a compliantly controlled balancing robot in simulations. We use similar dynamics equations used in the controller to find mismatches in the available sensory data and associate them to an unknown external force. Th…
Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to implement inverse dynamics on a torque contr…