One of the challenges for the robotics community is to deploy robots whichcan reliably operate in real world scenarios together with humans. A crucialrequirement for legged robots is the capability to properly balance on theirfeet, rejecting external disturbances. iCub is a state-of-the-art humanoidrobot which has only recently started to balance on its feet. While the currentbalancing controller has proved successful in various scenarios, it stillmisses the capability to properly react to strong pushes by taking steps. Thispaper goes in this direction. It proposes and implements a control strategybased on the Capture Point concept [1]. Instead of relying on position control,like most of Capture Point related approaches, the proposed strategy generatesreferences for the momentum-based torque controller already implemented on theiCub, thus extending its capabilities to react to external disturbances, whileretaining the advantages of torque control when interacting with theenvironment. Experiments in the Gazebo simulator and on the iCub humanoid robotvalidate the proposed strategy.
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