Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be sufficient for achieving a stable robot behavior. This paper presents a modeling and control framework for balancing humanoid robots in contact with a dynamic environment. We first model the robot and environment dynamics, together with the contact constraints. Then, a control strategy for stabilizing the full system is proposed. Theoretical results are verified in simulation with robot iCub balancing on a seesaw.
@article{arxiv.1707.09226,
title = {Modeling and Control of Humanoid Robots in Dynamic Environments: iCub Balancing on a Seesaw},
author = {Gabriele Nava and Daniele Pucci and Nuno Guedelha and Silvio Traversaro and Francesco Romano and Stefano Dafarra and Francesco Nori},
journal= {arXiv preprint arXiv:1707.09226},
year = {2018}
}