Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2014, Pages 981-988

  Herzog, Alexander ^a   Righetti, Ludovic ^a,b   Grimminger, Felix ^a   Pastor, Peter ^b   Schaal, Stefan ^a,b  

^a MAX PLANCK INSTITUTE FOR INTELLIGENT SYSTEMS   (Germany)

^b UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; ANTHROPOMORPHIC ROBOTS; APPLICATION PROGRAMS; CONTROLLERS; DYNAMICS; INVERSE PROBLEMS; QUADRATIC PROGRAMMING; ROBUST CONTROL; TORQUE; UNCERTAINTY ANALYSIS;

EXPERIMENTAL EVALUATION; INVERSE DYNAMICS CONTROLLERS; MODEL UNCERTAINTIES; OPTIMIZATION PROBLEMS; REAL-TIME COMPUTATIONS; ROBUST PERFORMANCE; TORQUE CONTROL LOOP; UNKNOWN DISTURBANCE;

INTELLIGENT ROBOTS;

EID: 84911474579     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2014.6942678     Document Type: Conference Paper

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