iCub balancing while performing goal directed actions: CoDyCo 2nd year validation

iCub, the humanoid robot of the Italian Institute of Technology, can stand, balance perform goal directed actions while interacting with people. Thanks to the artificial skin, which equips the robot with 4000 sensitive contact points, the iCub's control system measures the external forces and properly regulate these interactions in order to keep the balance. These new capacities will be pivotal when iCub will cohabitate with human beings in domestic environments. The results have been achieved by the resea