iCub balancing on one foot while interacting with humans

source: this youtube video

The following 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 when the robot stands on one foot. The knowledge of the robot dynamics and the measurement of the external perturbations allow for safely interacting with humans as well as controlling highly dynamic motions.

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 between the robot’s foot and the floor is regulated so that the robot keeps its balance even when strongly perturbed. These new capacities will be pivotal when iCub will cohabitate with human beings in domestic environments. The results have been achieved by the researches working at the Italian Institute of Technology and, in particular, by those funded by the European Projects CoDyCo and Koroibot with Dr. Francesco Nori as principal investigator.

Related scientific publications: Online and PDF

Related projects: CoDyCo, Koroibot, iCub robot

PPRIME Forum “Mechanical Design and Mechatronics of Robotics Systems”

@ Futuroscope (Poitiers), November 6 and 19, 2014

Lecture hall, SP2MI building – avenue Gustave Eiffel, Chasseneuil, France


The FORUM organized by the Pprime Institute offers the opportunity to PhD students and researchers from the robotics community to meet experts in order to exchange with them about most recent scientific results. This event provides to participants a space of reflection and privileged exchange. The FORUM is dedicated to Mechanical Design and Mechatronics of robotics systems.

Two themes, in the field of interest of the robotics team of Pprime institute, are considered during this FORUM:

  • the design of mechanical hands for dexterous manipulation;
  • the design of complex poly-articulated mechanisms (parallel mechanisms).

The forum is organized over three days with a program focused on presentations and panel discussions. In this context, the FORUM will have four guest speakers:

  • Yukio Takeda, Professor, Tokyo Institute of Technology, Japan
  • Philippe Wenger, Directeur de recherches au CNRS, IRCCyN-Nantes, France
  • Markus Grebenstein, doctor, DLR German Aerospace Center, Munich, Germany
  • Chin-Hsing Kuo, Professor, National Taiwan University of Science and Technology, Taiwan

Program Overview

November 6: «Kinematic optimization of complex poly-articulated systems »

  • 10h-12h: Yukio Takeda, “Kinematic Design of Compensatable Parallel Manipulators
  • 14h-17h: Philippe Wenger, “Coping with singularities in the design of parallel manipulators
    Yukio Takeda, “Kinematic and Dynamic Analysis and Design of 3-RPSR Parallel Mechanism for Pipe-Bender

November 19: «Design of medical robots »

  • 10h-12h: Chin-Hsing Kuo, “Applications of Mechanism Design Theories for Surgical Robotics
  • 14h-17h: Discussion Panel “How to choose the suitable kinematic design for a given application? What is the best approach for kinematic optimization?

Registration is free but required for logistic reasons on the FORUM website.