Walking of the iCub humanoid robot in different scenarios: Implementation and performance analysis

@article{Hu2016WalkingOT,
  title={Walking of the iCub humanoid robot in different scenarios: Implementation and performance analysis},
  author={Yue-Yang Hu and Jorhabib Eljaik and Kevin Stein and Francesco Nori and Katja D. Mombaur},
  journal={2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)},
  year={2016},
  pages={690-696}
}
The humanoid robot iCub is a research platform of the Fondazione Istituto Italiano di Tecnologia (IIT), spread among different institutes around the world. In the most recent version of iCub, the robot is equipped with stronger legs and bigger feet, allowing it to perform balancing and walking motions that were not possible with the first generations. Despite the new legs hardware, walking has been rarely performed on the iCub robot. In this work the objective is to implement walking motions on… Expand
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