  The humanoid robot iCub is a research platform of the Fondazione Istituto
Italiano di Tecnologia (IIT), spread among different institutes around the
world. In the most recent version of iCub, the robot is equipped with stronger
legs and bigger feet, allowing it to perform balancing and walking motions that
were not possible with the first generations. Despite the new legs hardware,
walking has been rarely performed on the iCub robot. In this work the objective
is to implement walking motions on the robot, from which we want to analyze its
walking capabilities. We developed software modules based on extensions of
classic techniques such as the ZMP based pattern generator and position control
to identify which are the characteristics as well as limitations of the robot
against different walking tasks in order to give the users a reference of the
performance of the robot. Most of the experiments have been performed with
HeiCub, a reduced version of iCub without arms and head.
