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The video file proposes two Gazebo simulations demonstrating the robustness of the implemented Passive Inverse Dynamics controller. I- The first simulation consists in a contact-force task scenario. In this simulation the robot creates a conta...

First success of a simple posture task in torque using TSID on Pyrene. At the end the robot falls because the contacts on the feet have been disturbed (the feet moved) breaking the constraint of TSID.

Even performing simple task in fixed environment can lead to instabilities, the authors encounter this problem while testing a classical torque control scheme using inverse dynamics on the robot TALOS on a simple postural task. After some repetiti...

A Lie group is an old mathematical abstract object dating back to the XIX century, when mathematician Sophus Lie laid the foundations of the theory of continuous transformation groups. Its influence has spread over diverse areas of science and tec...

First success of a simple posture task in torque using TSID on Pyrene. At the end the robot falls because the contacts on the feet have been disturbed (the feet moved) breaking the constraint of TSID.

This video illustrates the ICAR paper on the comparison of three control schemes applied on the Humanoid Robot TALOS. Aiming to choose the most appropriate scheme for the robot TALOS, we benchmark three control schemes with the robot walking on ...