Actuator control for the NASA-JSC valkyrie humanoid robot: A decoupled dynamics approach for torque control of series elastic robots

Journal of Field Robotics

Volumn 32, Issue 3, 2015, Pages 378-396

  Paine, Nicholas ^a   Mehling, Joshua S ^b   Holley, James ^b   Radford, Nicolaus A ^b   Johnson, Gwendolyn ^a   Fok, Chien Liang ^a   Sentis, Luis ^a  

^a The University of Texas at Austin   (United States)

^b NASA JOHNSON SPACE CENTER   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; ANTHROPOMORPHIC ROBOTS; DECENTRALIZED CONTROL; DEGREES OF FREEDOM (MECHANICS); DYNAMICS; NASA; ROBOTS; SPACE PLATFORMS; TORQUE; TORQUE CONTROL;

ANALYSIS TECHNIQUES; CONTROL ARCHITECTURE; CONTROLLER DEVELOPMENT; DECENTRALIZED APPROACH; DISTURBANCE OBSERVER; HIERARCHICAL CONTROL; JOHNSON SPACE CENTER; SERIES ELASTIC ACTUATORS;

CONTROLLERS;

EID: 84927115492     PISSN: 15564959     EISSN: 15564967     Source Type: Journal    
DOI: 10.1002/rob.21556     Document Type: Article

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