Online DCM Trajectory Generation for Push Recovery of Torque-Controlled
Humanoid Robots

Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots

23 September 2019

Giulio Romualdi

Stefano Dafarra

Francisco Javier Andrade Chavez

Daniele Pucci

Papers citing "Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots"

7 / 7 papers shown

Title
A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots Giulio Romualdi Stefano Dafarra Yue Hu Daniele Pucci 35 28 0 06 Sep 2018
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots Stefano Dafarra Gabriele Nava Marie Charbonneau Nuno Guedelha Francisco Andrade ... Luca Fiorio Francesco Romano F. Nori Giorgio Metta Daniele Pucci 47 15 0 14 Jul 2018
Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas Robert J. Griffin Georg Wiedebach Sylvain Bertrand Alexander Leonessa J. Pratt 61 99 0 01 Mar 2017
Robust Bipedal Locomotion Control Based on Model Predictive Control and Divergent Component of Motion M. Shafiee-Ashtiani A. Yousefi-Koma M. Panahi 51 54 0 28 Feb 2017
Step Timing Adjustment: A Step toward Generating Robust Gaits Majid Khadiv Alexander Herzog A. Moosavian Ludovic Righetti 57 70 0 07 Oct 2016
Stability Analysis and Design of Momentum-based Controllers for Humanoid Robots Gabriele Nava Francesco Romano F. Nori Daniele Pucci 37 76 0 14 Mar 2016
Trajectory generation for multi-contact momentum-control Alexander Herzog Nicholas Rotella S. Schaal Ludovic Righetti 48 98 0 15 Jul 2015