i Cub balancing on one foot while interacting with humans

This video shows the latest results achieved in the wholebody 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 betwe