More videos in my Youtube channel.
Whole Body Dynamics Computation/Estimation
This video shows some examples of integration of iDyn library in demos and modules of iCub. iDyn is a C++ open-source library licensed under GPL, and included in the iCub software. iDyn allows the robot to estimate its joint torques and internal forces/moments as well as external forces/moments applied on the robot. Using the artificial tactile skin, it is possible to detect the contact location precisely, thus being precise in the estimation of external force and location. Without skin, it is sufficient to make the hypotheses on the contact location. For example, the end-effectors. This video was shown during Humanoids 2011 in Bled, Slovenia.
References:
S. Ivaldi, M. Fumagalli, M. Randazzo, F. Nori, G. Metta, G. Sandini (2011). Computing robot internal/external wrenches by means of inertial, tactile and F/T sensors: theory and implementation on the iCub. Proc. of the 11th IEEE-RAS International Conference on Humanoid Robots - HUMANOIDS. Pages 521-528. (pdf)
M. Fumagalli*, S. Ivaldi*, M. Randazzo, L. Natale, G. Metta, G. Sandini, F. Nori (2012). Force feedback exploiting tactile and proximal force/torque sensing. Theory and implementation on the humanoid robot iCub. Autonomous Robots, Vol 33 No 4 Pages 381-198. (* = equal contribution) (http-springer) (pdf)
Software for library and experiments: code (svn)
Tutorial of iDyn: manual (wiki), introduction (online doc), introduction (slides VVV10), tutorial (online doc)