Torque-controlled stepping-strategy push recovery: Design and implementation on the iCub humanoid robot

@article{Dafarra2016TorquecontrolledSP,
  title={Torque-controlled stepping-strategy push recovery: Design and implementation on the iCub humanoid robot},
  author={Stefano Dafarra and Francesco Romano and Francesco Nori},
  journal={2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)},
  year={2016},
  pages={152-157}
}
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet, rejecting external disturbances. iCub is a state-of-the-art humanoid robot which has only recently started to balance on its feet. While the current balancing controller has proved successful in various scenarios, it still misses the capability to properly react… 
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21 Citations
Background Citations
10
Methods Citations
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21 Citations

Synthesis of a Predictive Push-Recovery Controller: Simulation Results on the iCub Humanoid Robot
TLDR
A Model Predictive Controller is conceived which enables the prediction of future evolutions of the robot, taking into account constraints switching when performing a step, and is validated through simulations, revealing higher robustness and reliability when executing the recovery strategy.
Optimal control based push recovery strategy for the iCub humanoid robot with series elastic actuators
  • Yue Hu, K. Mombaur
  • Computer Science, Engineering
    2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • 2017
TLDR
This paper uses whole-body models combined with optimal control to explore the problem of push recovery in humanoid robots, and optimized for a stable motion that allows to perform recovery within one step.
A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping
TLDR
A Model Predictive Controller is conceived 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, revealing high robustness and reliability when executing a recovery strategy.
A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot
TLDR
This work implements a Receding Horizon control, also known as Model Predictive Control, to add the possibility to predict the future evolution of the robot, especially the constraints switching given by the hybrid nature of the system.
Predictive Whole-Body Control of Humanoid Robot Locomotion
TLDR
This thesis tackles several aspects of the humanoid robot locomotion problem in a crescendo of complexity, and considers the single step push recovery problem, and generates and stabilize walking motions.
On the Emergence of Whole-Body Strategies From Humanoid Robot Push-Recovery Learning
TLDR
This work applies model-free Deep Reinforcement Learning for training a general and robust humanoid push-recovery policy in a simulation environment and validate the method with extensive quantitative analyses in simulation, including out-of-sample tasks which demonstrate policy robustness and generalization, both key requirements towards real-world robot deployment.
A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots
TLDR
An integrated approach that provides compliant control of an iCub humanoid robot and adaptive reaching, grasping, navigating and co-manipulating capabilities and achieves unprecedented adaptive behaviors for whole body manipulation is presented.
Push Recovery of a Quadrupedal Robot in the Flight Phase of a Long Jump
Legged robots are well-suited for operation in challenging natural environments, such as steep obstacles or vast gaps in the ground. Aside from difficult terrain, robots may also encounter…
Humanoid Robot Pitch Axis Stabilization using Linear Quadratic Regulator with Fuzzy Logic and Capture Point
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The proposed control system can maintain the humanoid robot’s stability around the pitch axis when subject to pendulum disturbances or even restraining force from a spring balance.
An Alternative Open Architecture Controller Design for the Bioloid Humanoid Robot
1 Abstract—Robot-based assistive technologies have in recent times, become an important research topic. Most commercial robots come with control systems which may support several types of user…
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