Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid

Author:

Herzog Alexander,Rotella Nicholas,Mason Sean,Grimminger Felix,Schaal Stefan,Righetti Ludovic

Publisher

Springer Science and Business Media LLC

Subject

Artificial Intelligence

Reference40 articles.

1. Ayusawa, K., Venture, G., & Nakamura, Y. (2014). Identifiability and identification of inertial parameters using the underactuated base-link dynamics for legged multibody systems. The International Journal of Robotics Research, 33, 446–468.

2. Bloesch, M., Hutter, M., Hoepflinger, M. H., Remy, C. D., Gehring, C., & Siegwart, R. (2012). State estimation for legged robots consistent fusion of leg kinematics and IMU. Sydney: Robotics: science and systems (R:SS).

3. Boaventura, T., Focchi, M., Frigerio, M., Buchli, J., Semini, C., Medrano-Cerda, G.A., & Caldwell, D. (2012). On the role of load motion compensation in high-performance force control. In IEEE/RSJ international conference on intelligent robots and systems.

4. Boaventura, T., Semini, C., Buchli, J., Frigerio, M., Focchi, M., & Caldwell, D. (2012). Dynamic torque control of a hydraulic quadruped robot. In IEEE international conference on robotics and automation.

5. Cheng, G., Sang-Ho, H., Ude, A., Morimoto, J., Hale, J.G., Hart, J., Nakanishi, J., Bentivegna, D., Hodgins, J., Atkeson, C., Mistry, M., Schaal, S., & Kawato, M. (2008). CB: Exploring neuroscience with a humanoid research platform. In IEEE international conference on robotics and automation.

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