Computationally-Robust and Efficient Prioritized Whole-Body Controller
with Contact Constraints

Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints

3 July 2018

Donghyun Kim

Hochul Hwang

Papers citing "Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints"

4 / 4 papers shown

Title
Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas Georg Wiedebach Sylvain Bertrand Tingfan Wu Luca Fiorio Stephen McCrory Robert Griffin F. Nori J. Pratt 38 77 0 27 Jul 2016
Stability of Surface Contacts for Humanoid Robots: Closed-Form Formulae of the Contact Wrench Cone for Rectangular Support Areas Stéphane Caron Quang Pham Yoshihiko Nakamura 42 104 0 20 Jan 2015
Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid Alexander Herzog Nicholas Rotella Sean Mason F. Grimminger S. Schaal Ludovic Righetti 43 256 0 27 Oct 2014
An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion S. Kuindersma Frank Permenter Russ Tedrake 51 243 0 07 Nov 2013