16 search results - page 2 / 4 » Whole-body hierarchical motion and force control for humanoi... |
IROS
2007
IEEE
13 years 11 months ago
2007
IEEE
— Human walking emerges from synergy of whole body dynamics: not only legs, but also a torso, arms, and a head are compliantly connected with each other by antagonistic muscles. ...
IROS
2008
IEEE
13 years 12 months ago
2008
IEEE
— This paper presents an integrative approach to solve the coupled problem of reaching and grasping an object in a cluttered environment with a humanoid robot. While finding an ...
ICRA
2006
IEEE
13 years 11 months ago
2006
IEEE
Abstract— This paper presents a framework for the dynamical formulation and control of humanoid systems. In this framework unactuated virtual joints are used to describe the huma...
IROS
2007
IEEE
13 years 11 months ago
2007
IEEE
— This paper presents a balance controller that allows a humanoid to recover from large disturbances and still maintain an upright posture. Balance is achieved by integral contro...
ICRA
2008
IEEE
13 years 12 months ago
2008
IEEE
—The properties of dissipative haptic displays allow larger workspaces that permit a whole body interaction useful for sports, rehabilitation, and large-scale object design appli...