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Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid.
Alexander Herzog
Nicholas Rotella
Sean Mason
Felix Grimminger
Stefan Schaal
Ludovic Righetti
Published in:
CoRR (2014)
Keyphrases
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inverse dynamics
parallel manipulator
induction motor
control system
control strategy
external forces
control method
artificial intelligence
control algorithm
robotic systems
humanoid robot
optimal control
neural network
dynamic model
nonlinear systems
fuzzy rules
evolutionary algorithm
decision making
data mining