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Estimation of contact forces and floating base kinematics of a humanoid robot using only Inertial Measurement Units.

Alexis MifsudMehdi BenallegueFlorent Lamiraux
Published in: IROS (2015)
Keyphrases
  • humanoid robot
  • motion planning
  • multi modal
  • contact force
  • inverse kinematics
  • dynamic model
  • real time
  • joint space
  • human motion
  • control algorithm
  • real robot