Momentum Control of Humanoid Robots with Series Elastic Actuators
Momentum Control of Humanoid Robots with Series Elastic Actuators
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Ithaca: Cornell University Library, arXiv.org
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English
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Ithaca: Cornell University Library, arXiv.org
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Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking controllers. This paper proposes a control framework for extending momentum based controllers developed for sti...
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Momentum Control of Humanoid Robots with Series Elastic Actuators
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TN_cdi_proquest_journals_2074207070
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https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_proquest_journals_2074207070
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E-ISSN
2331-8422
