Force Control of the iCub Humanoid for One-foot Balancing

This paper overviews the whole-body force control framework implemented on the iCub humanoid platform. This framework consists in a hierarchy of two tasks, where the highest priority task is a force control task, and the lowest one a postural task. The force task achieves the stabilization of a desired centroidal dynamics, i.e., a desired linear and angular momentum of the multi body system. These forces are generated by the internal joint torques, which are related to forces through the rigid constraint equations and the free-floating dynamics. Validation of the framework has been conducted on a real scenario involving the iCub robot balancing on one foot while safely interacting with people.