Human-inspired Walking via Unified PD and Impedance Control Wen-Loong Ma1 , Hui-Hua Zhao1 , Shishir Kolathaya1 and Aaron D. Ames2 Abstract— This paper describes a torque control scheme unifying feedback PD control and

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Date: 2014-02-02 20:48:39 Science Physical quantities Torque Robotics Feedforward control Control theory Humanoid robot PID controller Motion planning Physics Rotation Systems theory		Human-inspired Walking via Unified PD and Impedance Control Wen-Loong Ma1 , Hui-Hua Zhao1 , Shishir Kolathaya1 and Aaron D. Ames2 Abstract— This paper describes a torque control scheme unifying feedback PD control and Add to Reading List Source URL: www.bipedalrobotics.com Download Document from Source Website File Size: 536,97 KB Share Document on Facebook

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