• Corpus ID: 5101095

A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping

  title={A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping},
  author={Stefano Dafarra and Francesco Romano and Gabriele Nava and Francesco Nori},
  journal={arXiv: Robotics},
When balancing, a humanoid robot can be easily subjected to unexpected disturbances like external pushes. In these circumstances, reactive movements as steps become a necessary requirement in order to avoid potentially harmful falling states. In this paper we conceive a Model Predictive Controller which determines a desired set of contact wrenches by predicting the future evolution of the robot, while taking into account constraints switching in case of steps. The control inputs computed by… 

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