iCub Reactive Walking

This video shows the latest results in the whole-body locomotion control of the humanoid robot iCub achieved by the Dynamic Interaction Control line (dic.iit.it/). In particular, the iCub now keeps the balance while walking and receiving pushes from an external user. The implemented control algorithms also ensure the robot to remain compliant during locomotion and human-robot interaction, a fundamental property to lower the possibility to harm humans that share the robot surrounding environment. The algorithms have been published in the proceedings of the 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) ieeexplore.ieee.org/document/... and the video shows their validation on the humanoid robot iCub.