Now showing items 1-5 of 5
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots
A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of three nested control loops. The outer loop ...
Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics"
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not ...
Incremental Semiparametric Inverse Dynamics Learning
This paper presents a novel approach for incremental semiparametric inverse dynamics learning. In particular, we consider the mixture of two approaches: Parametric modeling based on rigid body dynamics equations and ...
Partial Force Control of Constrained Floating-Base Robots
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a ...
Prioritized Optimal Control
This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a widespread multi-task technique in robotics and ...