Name
Title | ||
|---|---|---|
Stabilizing Series-Elastic Point-Foot Bipeds Using Whole-Body Operational Space Control. |
Abstract | ||
|---|---|---|
Whole-body operational space controllers (WBOSCs) are versatile and well suited for simultaneously controlling motion and force behaviors, which can enable sophisticated modes of locomotion and balance. In this paper, we formulate a WBOSC for point-foot bipeds with series-elastic actuators (SEA) and experiment with it using a teen-size SEA biped robot. Our main contributions are on devising a WBOS... |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/TRO.2016.2597314 | IEEE Transactions on Robotics |
Keywords | Field | DocType |
Actuators,Humanoid robots,Heuristic algorithms,Legged locomotion | Control theory,Terrain,Dynamic balance,Contact force,Control engineering,Robot,Haptic technology,Mathematics,Humanoid robot,Actuator,Operational space control | Journal |
Volume | Issue | ISSN |
32 | 6 | 1552-3098 |
Citations | PageRank | References |
5 | 0.54 | 14 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Donghyun Kim | 1 | 16 | 3.89 |
| Ye Zhao | 2 | 54 | 11.72 |
| Gray C. Thomas | 3 | 48 | 6.31 |
| Benito Fernandez | 4 | 65 | 13.23 |
| Luis Sentis | 5 | 574 | 59.74 |