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Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics.

Alexander HerzogLudovic RighettiFelix GrimmingerPeter PastorStefan Schaal
Published in: IROS (2014)
Keyphrases
  • inverse dynamics
  • parallel manipulator
  • nonlinear systems
  • control algorithm
  • degrees of freedom
  • dynamic model
  • artificial intelligence
  • reinforcement learning
  • intelligent systems
  • fitness function
  • motion capture