Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid
نویسندگان
چکیده
منابع مشابه
Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid
Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled humanoid where model inaccuracies, sensor noise and real-time computation requirements can be problematic. Using a reformulation of existing algorithms, we propo...
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ژورنال
عنوان ژورنال: Autonomous Robots
سال: 2015
ISSN: 0929-5593,1573-7527
DOI: 10.1007/s10514-015-9476-6