Centroidal Momentum Observer: Towards Whole-Body Robust Control of Legged Robots Subject to Uncertainties
Author:
Affiliation:
1. Ozyegin University,Dept. of Mechanical Engineering,Istanbul,Turkey
2. Yeditepe University,Dept. of Electrical-Electronics Engineering,Istanbul,Turkey
Funder
Scientific and Technological Research Council of Turkey
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/9729251/9729252/09729273.pdf?arnumber=9729273
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1. An efficiently solvable quadratic program for stabilizing dynamic locomotion
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5. Resolved momentum control: humanoid motion planning based on the linear and angular momentum
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1. Enhanced Tracking in Legged Robots through Model Reduction and Hybrid Control Techniques: Addressing Disturbances, Delays, and Saturation;Applied Sciences;2024-03-19
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