Optimal distribution of contact forces with inverse-dynamics control

International Journal of Robotics Research

Volumn 32, Issue 3, 2013, Pages 280-298

  Righetti, Ludovic ^a,b   Buchli, Jonas ^c   Mistry, Michael ^d   Kalakrishnan, Mrinal ^a   Schaal, Stefan ^a,b  

^a UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

^b MAX PLANCK INSTITUTE FOR INTELLIGENT SYSTEMS   (Germany)

^c ETH ZURICH   (Switzerland)

^d UNIVERSITY OF BIRMINGHAM   (United Kingdom)

Author keywords

design and control; dynamics; legged robots; motion control

Indexed keywords

COMPLEX ENVIRONMENTS; CONTACT CONSTRAINT; CONTACT INTERACTION; DESIGN AND CONTROL; LEGGED ROBOTS; LOCOMOTION BEHAVIOR; OPTIMAL DISTRIBUTIONS; TRACKING PERFORMANCE;

DYNAMICS; MACHINE DESIGN; MOTION CONTROL; MULTIPURPOSE ROBOTS; OPTIMIZATION; ROBUSTNESS (CONTROL SYSTEMS);

CONTROLLERS;

EID: 84876244390     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364912469821     Document Type: Article

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