3 accepted papers
In this paper we present a novel whole-body compliance framework. It is based on the Multi Spring Model, a set of virtual springs interconnecting the limb extremities and the trunk as well. More specifically, six virtual springs connect the trunk of the robot to the feet and the hands and other six…
Bipedal walking with humanoid robots requires efficient real-time control. Nowadays, most bipedal robots require to ensure local stability at every instant in time, preventing them from achieving the impressive human walking skills. At the same time, bio-inspired walking controllers are emerging, th…
Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to implement inverse dynamics on a torque contr…