iCub reaching - impedence control

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Uploaded by on Mar 24, 2011

iCub reaches for the red ball employing an high-level kinematic controller acting in the operational space coupled with a low level impedance controller acting in the joint space. The overall effect is that while reaching the robot can perceive external forces (exerted by the operator) and behave in a compliant fashion.

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Science & Technology

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Standard YouTube License

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  • i want my own one <3

  • WOW, That is Amazing, Great Work; More than great incredible i wonder when robots start to come into everyday life

  • Whoa, that's incredibly natural motion. Great to see that full-body lean; too many robots just waggle their arms around (fewer joints to model, I guess).

  • thats so cute

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