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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 ...
Compact Real-time avoidance on a Humanoid Robot for Human-robot Interaction
With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. ...