Torque Control balancing on iCub@Heidelberg

This video shows the latest results achieved in the whole-body control of the iCub, the humanoid robot developed by the Italian Institute of Technology. In particular, it shows the performances of the balancing controller on the specific platform of iCub@Heidelberg, which has a different hardware configuration from the classical iCub. The control of the robot is achieved by regulating the interaction forces between the robot and its surrounding environment. In particular, the force and torque exchanged be