IEEE Robotics & Automation Magazine - December 2019 - 101

generalized torques are computed as a function of the quasi-velocities vector:
xu =

u ` oo d + K d (o d - o) + K p
M

#0 t (o d - o) j + cu,

Sensing
The head is equipped with a Stereolabs Zed Camera [33].
This is a passive red-green-blue-depth (RGB-D) camera that
can acquire images, videos, and a depth point cloud of the
scene. Images can be streamed to either the pilot station
monitor or to the VR headset when the robot is used in teleoperation mode (see the "Operating Modes" section).
ALTER-EGO is equipped with a set of basic vision tools that
enable it to recognize objects and markers. A wrapper is
available, making the Zed stereo camera usable in the Robot
Operating System (ROS) environment by providing access to
stereo images, the depth map, the 3D point cloud, and 6-DoF
tracking. Currently, several software systems exploit stateof-the-art object-detection algorithms. For this purpose,
Detectron [34] has been used on ALTER-EGO. The head
architecture is completed by a 10-W speaker and a multidirectional, six-channel microphone.

(6)

w here cu = S T (q) ^ M (q) So (q, qo ) o + C (q, qo ) S (q) o + G (q)h
u = S T (q) M (q) S (q) . This ensures that the resulting
and M
generalized torques are compatible with the constraints by
design. We show in [14] that the actual joint torques τ can
be obtained from (6) to achieve a whole-body control method. The method was tested in several experiments to stabilize the robot around an equilibrium position in the
presence of static and dynamic disturbances [see Figure 4(c)
and (d)] as well as in tracking some required motions during the execution of a task that included physical interaction
with the environment.

(a)
0 Kg

0.5 Kg

1 Kg

6 Kg

(b)

(c)

(d)

Figure 4. (a) The robot balancing at different slope angles. (b) The robot balancing in the presence of static disturbances. (c) The LQR
control algorithm; the robot balancing in the presence of external impulsive disturbances. (d) The whole-body control algorithm; the
robot balancing in the presence of dynamic disturbances.

DECEMBER 2019

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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101



IEEE Robotics & Automation Magazine - December 2019

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2019

Contents
IEEE Robotics & Automation Magazine - December 2019 - Cover1
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