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• W3104329162 abstract "We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory. Its appeal lies in the ability to guarantee robust stability and performance despite rigid body model mismatch, actuator dynamics, delays, contact surface stiffness, and unobserved ground profiles. Furthermore, we introduce a task space decomposition approach which removes the coupling effects between contact force controller and the other non-contact controllers. Finally, we verify our control performance on a quadruped robot and compare its performance to a standard inverse dynamics approach on hardware." @default.
• W3104329162 created "2020-11-23" @default.
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• W3104329162 date "2017-09-01" @default.
• W3104329162 modified "2023-10-18" @default.
• W3104329162 title "Robust whole-body motion control of legged robots" @default.
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• W3104329162 doi "https://doi.org/10.1109/iros.2017.8206328" @default.
• W3104329162 hasPublicationYear "2017" @default.
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