# Torque-Controlled Stepping-Strategy Push Recovery: Design and Implementation on the iCub Humanoid Robot

## TL;DR

This paper introduces a torque-controlled stepping strategy for push recovery in humanoid robots, specifically implemented on the iCub, enabling it to better react to external disturbances while maintaining environmental interaction capabilities.

## Contribution

It presents a novel control strategy based on the Capture Point concept that extends iCub's balancing abilities to include stepping responses using torque control.

## Key findings

- Successful simulation validation in Gazebo
- Effective real-world testing on iCub
- Enhanced push recovery performance

## Abstract

One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet, rejecting external disturbances. iCub is a state-of-the-art humanoid robot which has only recently started to balance on its feet. While the current balancing controller has proved successful in various scenarios, it still misses the capability to properly react to strong pushes by taking steps. This paper goes in this direction. It proposes and implements a control strategy based on the Capture Point concept [1]. Instead of relying on position control, like most of Capture Point related approaches, the proposed strategy generates references for the momentum-based torque controller already implemented on the iCub, thus extending its capabilities to react to external disturbances, while retaining the advantages of torque control when interacting with the environment. Experiments in the Gazebo simulator and on the iCub humanoid robot validate the proposed strategy.