Inverse dynamics control with floating base and constraints

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 1942-1947

  Nakanishi, Jun ^a,b   Mistry, Michael ^c   Schaal, Stefan ^b,c  

^a JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

^b ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

^c UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACCELERATION; BIPED LOCOMOTION; COMPUTATIONAL METHODS; CONSTRAINT THEORY; INVERSE KINEMATICS; LAGRANGE MULTIPLIERS; PROBLEM SOLVING;

FEATHERSTONE'S SPATIAL NOTATION; LEGGED LOCOMOTION; PATTERN GENERATORS; ROBOT DYNAMICS;

ROBOTICS;

EID: 36348951464     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363606     Document Type: Conference Paper

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