• balance control
• humanoid robots
• mobile robots
• whole-body control

The aims of this thesis are the study and experimental validation of laws for the dynamic balance control of multiplatform humanoid robots.
With the expression multiplatform humanoid robot we refer to robots composed of a humanoid upper body and a mobile base. Indeed, typical inspection and mantainance or disaster scenarios require the employment of different kinds of mobile robots. Thus, we need to be able to fully exploit the dynamic capabilities of legged, wheeled or aerial mobile bases and to interact with the environment through a humanoid upper body to perform complex bimanipulation tasks, possibly in a teleoperated setting.
First, we propose a new balancing control law for a legged humanoid robot, which has been validated through simulations.
Secondly, the possibility of dynamically controlling a wheeled humanoid robot is analyzed. The balancing problem is solved through an inverse dynamics approach, and experimental results are presented to show the effectiveness of the proposed method.
Moreover, we propose a momentum-based control strategy as an extension for a humanoid robot with a quadrotor flying mobile base.