iCub performing highly dynamic Tai Chi while interacting with humans

Cite this contribution:
D. Pucci and F. Romano and S. Traversaro and F. Nori; "Highly dynamic balancing via force control" 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)
Nava, G.; Romano F.; Nori F.; Pucci, D.; "Stability Analysis and Design of Momentum-based Controllers for Humanoid Robots" IEEE International Conference on Intelligent Robots and Systems (IROS). 2016
This video shows the latest results on the whole-body control of humanoid robots achieved by the Dynamic Interaction Control Lab at the Italian Institute of Technology.
The control of the robot is achieved by regulating the interaction forces between the robot and its surrounding environment. The force and torque exchanged between the robot's feet and the floor is regulated so that the robot keeps its balance even when strongly perturbed.
In particular, the control architecture is composed of two nested control loops. The internal loop, which runs at 1 KHz, is in charge of stabilizing any desired joint torque. This task is achieved thanks to an off-line identification procedure providing us with a reliable model of friction and motor constants. The outer loop, which generates desired joint torques at 100 Hz, is a momentum based control algorithm with the formalism of free-floating systems subject to constraints (i.e. Differential Algebraic Equation frameworks). More precisely, the control objective for the outer loop is the stabilization of the robot’s linear and angular momentum and the associated zero dynamics. The latter objective can be used to stabilize a desired joint configuration. The stability of the control framework is shown to be in the sense of Lyapunov. The contact forces and torques at the contacts are regulated so as to break the contact only at desired configurations. Switching between several contacts is taken into account thanks to a finite-state-machine that dictates the constraints acting on the system. The control framework is implemented on the iCub humanoid robot.
Related projects:
codyco.eu/
orb.iwr.uni-hei...
Useful links:
www.icub.org/
www.iit.it/res...
www.iit.it

[@dami4335]

state facendo un buonissimo lavoro :)

[@evolution6333]

passa da me vro.

[@ChristianBlueChimp]

Great job - keep it up!

[@NovoPinto]

He visto varios vídeos de robots humanoides y iCub me parece el más acertado (los demás, me dan grima). Quizás haya que aceletar los tiempos de respuesta en cuanto al haz de visión para detectar objetos, ya que se me ocurre que si tuviera un diámetro superior, quizás le ayude a acelerar sus respuestas ante lo que ve y quiere coger. En cuanto a la estética, la mejor de todas sin dudarlo...

[@красиваядевушка-ц3с]

I think that the best robot

[@masterchef1837]

Still not walking:( But once he can walk you should make bear versions, like the walking bear in Ted and the film AI. You'd make billions, every kid would want one.

[@Daomee]

Master Chef have you seen atlas doin backflips recently. I hope icub is doing more progress as well...

[@DanFrederiksen]

You test it with what you know it can handle, not actual robustness. Also I assume it's a handcoded control system, meaning it's exactly specialized and generally useless. Learning is fundamental.

[@Wulfcry]

What?.

[@hallnuts33]

No it is an actual learning system. It is used as a test of the theory of "embodied cognition". This robot has a body covered in sensors, and it learns much the same way human children do: Through physical interaction with the world, coupled with language/visual processing etc.

[@RijuChatterjee]

@@hallnuts33 The physical robot itself is a hardware platform; different people run different software on it. This particular example is in fact not a learning system. Read the description. There is value both in learned behaviour and hard-coded behaviour and in biology at least they coexist. We see hardwired neural circuits for actions such as running in many animals.

[@benobo]

Not easy, even for a human being :)

[@kaori8931]

you should wear the robot with chucky costume😁😁😁