Passive Inverse Dynamics Control Using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact.
Noëlie RamuzatSébastien BoriaOlivier StassePublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- humanoid robot
- inverse dynamics
- control system
- joint space
- control strategy
- motion planning
- parallel manipulator
- induction motor
- motor control
- control algorithm
- autonomous robots
- nonlinear systems
- control scheme
- control method
- multi modal
- mobile robot
- real time
- motion capture
- human robot interaction
- adaptive control
- master slave
- robotic systems
- contact force
- neural network