2022
Passive Inverse Dynamics Control Using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact
RA-L 2022
This letter presents a passivity-based inverse dynamics (ID) controller using a global energy tank. The proposed control approach allows us to achieve a safe multi-contact scenario on a torque controlled humanoid robot. The controller is primarily a task space ID quadratic programming (QP) which eff