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 SentisPublished in: J. Field Robotics (2015)