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Estimation of contact forces and floating base kinematics of a humanoid robot using only Inertial Measurement Units.
Alexis Mifsud
Mehdi Benallegue
Florent Lamiraux
Published in:
IROS (2015)
Keyphrases
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humanoid robot
motion planning
multi modal
contact force
inverse kinematics
dynamic model
real time
joint space
human motion
control algorithm
real robot