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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