iCub Whole-Body Control through Force Regulation on Rigid Non-Coplanar Contacts

@article{Nori2015iCubWC,
  title={iCub Whole-Body Control through Force Regulation on Rigid Non-Coplanar Contacts},
  author={Francesco Nori and Silvio Traversaro and Jorhabib Eljaik and Francesco Romano and Andrea Del Prete and Daniele Pucci},
  journal={Frontiers Robotics AI},
  year={2015},
  volume={2},
  pages={6}
}
This paper details the implementation on the humanoid robot iCub of state-of-the-art algorithms for whole-body control. We regulate the forces between the robot and its surrounding environment to stabilize a desired robot posture. We assume that the forces and torques are exerted on rigid contacts. The validity of this assumption is guaranteed by constraining the contact forces and torques, e.g. the contact forces must belong to the associated friction cones. The implementation of this control… 
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