The CoDyCo project achievements and beyond: Toward human aware whole-body controllers for physical human robot interaction

Research output: Contribution to journalArticlepeer-review


  • francesco romano
  • Gabriele Nava
  • Jernej Camernik
  • Stefano Dafarra
  • Oriane Dermy
  • Claudia Latella
  • Maria Lazzaroni
  • Ryan Lober
  • Marta Lorenzini
  • Daniele Pucci
  • Olivier Sigaud
  • Silvio Traversaro
  • Jan Babic
  • Serena Ivaldi
  • Michael Mistry
  • Vincent Padois
  • Francesco Nori

Colleges, School and Institutes


The success of robots in real-world environments is largely dependent on their ability to interact with both humans and said environment. The FP7 EU project CoDyCo focused on the latter of these two challenges by exploiting both rigid and compliant contacts dynamics in the robot control problem. Regarding the former, to properly manage interaction dynamics on the robot control side, an estimation of the human behaviors and intentions is necessary. In this letter, we present the building blocks of such a human-in-the-loop controller, and validate them in both simulation and on the iCub humanoid robot using a human-robot interaction scenario. In this scenario, a human assists the robot in standing up from being seated on a bench.


Original languageEnglish
Pages (from-to)516-523
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number1
Early online date2 Nov 2017
Publication statusPublished - 1 Jan 2018