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Actuator Control for the NASA-JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots.

Nicholas PaineJoshua S. MehlingJames HolleyNicolaus A. RadfordGwendolyn JohnsonChien-Liang FokLuis Sentis
Published in: J. Field Robotics (2015)
Keyphrases
  • humanoid robot
  • control system
  • joint space
  • control strategy
  • robotic systems
  • control method
  • biologically inspired
  • autonomous robots
  • spatio temporal
  • multi modal
  • position control
  • fully autonomous