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- W786543188 abstract "In this work we provide a comparison between admittancecontrollers based on force sensors in the feet and impedancecontrollers based on joint torque sensors. We start by analyzing to which extend the findings from robot manipulationapply also to biped robots, in which the interaction betweenthe robot and the environment as well as the respective sensing occurs at the robots support. In this context, the roleof a free-floating base link in biped robots as compared tothe fixed support in manipulator control is analyzed usingsimple dynamical models.The comparison is supported by several experiments, bothin simulation and on a real robot. The chosen task is thebalance of a biped robot in presence of external perturbationsin different directions. The simulations are based on OpenHRP3 and experimental results were obtainedwith the DLR biped." @default.
- W786543188 created "2016-06-24" @default.
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- W786543188 date "2011-07-01" @default.
- W786543188 modified "2023-09-27" @default.
- W786543188 title "Torque and Force Controllers for a Biped Robot" @default.
- W786543188 hasPublicationYear "2011" @default.
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