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Humanoid balancing on unstable terrain using whole-body momentum control and series elastic actuation.
Michael A. Hopkins
Viktor L. Orekhov
Coleman S. Knabe
Brian Y. Lattimer
Dennis W. Hong
Published in:
Humanoids (2014)
Keyphrases
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humanoid robot
degrees of freedom
multiresolution
control system
learning rate
three dimensional
wheeled mobile robots
process control
robotic systems
disturbance rejection
legged robots
elastic matching
motion capture
real time
data acquisition
case study
information systems
neural network