5 accepted papers
In this letter, we propose a controller for legged robots that takes into account the individual contact compliance. This controller is able to achieve both balance stabilization and force control in the same loop in task space thanks to the use of an explicit contact flexibility model and simplifie
In this paper we report the safety-oriented framework for controlling the torque in the case of robots with high reduction gears and having no joint torque feedback. This kind of robots suffer from high joint friction and low backdrivability, requiring high gains and integral feedback, which can be…
In this letter, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude estimation, which requires to know the velocity of the system. This velocity can be obtained by taking into account the
We propose a control framework for torque controlled humanoid robots that efficiently minimizes the tracking error in a Quadratic Programming (QP)formulated as multiobjective weighted tasks with constraints. It results in an optimal dynamically-feasible reference that can be tracked robustly, with e…
This paper proposes simple and efficient algorithms for implementation of attitude estimation and control based on data fusion using complementary filters taking into account sensors dynamics. First of all, we propose a passive form of the filter by fusing the measured inertial vectors and the gyro