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Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid

2016

Article

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Author(s): Alexander Herzog and Nicholas Rotella and Sean Mason and Felix Grimminger and Stefan Schaal and Ludovic Righetti
Journal: Autonomous Robots
Volume: 40
Number (issue): 3
Pages: 473--491
Year: 2016
Month: March

Department(s): Autonomous Motion, Movement Generation and Control
Research Project(s): Model-based Control of Floating-based Robots
Model-based control of legged robots
Bibtex Type: Article (article)
Paper Type: Journal

DOI: 10.1007/s10514-015-9476-6
State: Published

Links: video
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Attachments: pdf

BibTex

@article{Herzog-AR-2015,
  title = {Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid},
  author = {Herzog, Alexander and Rotella, Nicholas and Mason, Sean and Grimminger, Felix and Schaal, Stefan and Righetti, Ludovic},
  journal = {Autonomous Robots},
  volume = {40},
  number = {3},
  pages = {473--491},
  month = mar,
  year = {2016},
  month_numeric = {3}
}