Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics

Understand

Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots.

• They have important theoretical benefits but have never been implemented on a torque controlled robot where model inaccuracies and real-time computation requirements can be problematic.
• In this contribution we present an experimental evaluation of these algorithms in the context of balance control for a humanoid robot.
• The presented experiments demonstrate the applicability of the approach under real robot conditions (i.e.