Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics

• Published in: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 981 - 988
• Main Authors: Herzog, Alexander, Righetti, Ludovic, Grimminger, Felix, Pastor, Peter, Schaal, Stefan
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.09.2014
• Subjects: Dynamics; Joints; Legged locomotion; Optimization; Robot sensing systems; Torque

Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots. They have important theoretical benefits but have never been implemented on a torque controlled robot where model inaccuracies and real-t...