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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:
Auton. Robots (2016)
Keyphrases
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inverse dynamics
control strategy
induction motor
control system
real time
control algorithm
humanoid robot
nonlinear systems
parallel manipulator
multi modal
computer vision
object recognition
artificial neural networks
degrees of freedom
adaptive control
external forces
neural network