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Humanoid robots may require a degree of compliance at the joint level forimproving efficiency, shock tolerance, and safe interaction with humans. Thepresence of joint elasticity, however, complexifies the design of balancing andwalking controllers. This paper proposes a control framework for extendingmomentum based controllers developed for stiff actuators to the case of serieselastic actuators. The key point is to consider the motor velocities as anintermediate control input, and then apply high-gain control to stabilise thedesired motor velocities achieving momentum control. Simulations carried out ona model of the robot iCub verify the soundness of the proposed approach.

Momentum Control of Humanoid Robots with Series Elastic Actuators