Italian Institute of Technology / University of Southern California Los Angeles / Max Planck Institute / /
IndustryTerm
analytical optimal solution / conservative possible solution / constrained multibody systems / linear projection operator / constrained optimization algorithms / real world applications / real-time computing hardware / actuated systems / inverse dynamics law / iterative optimization algorithm / dynamics solution / preliminary applications / base systems / control law / /
Organization
Army Research Office / National Science Foundation / University of Southern California Los Angeles / Normal Force / S. Schaal / Computational Learning and Motor Control Lab / Max Planck Institute for Intelligent Systems / Okawa Foundation / Institute of Technology / /
Person
Kty / J. Peters / M. Kalakrishnan / S. Schaal / Jc Wc / F. E. Udwadia / L. Righetti / Michael Mistry / Min tan imiz / J. Nakanishi / Jonas Buchli / Assuming / J. Buchli / Ludovic Righetti / M. Mistry / P. Pastor / / /
Position
locomotion controller / joint space PID error feedback controller / inverse dynamics controller / RT / torque controller / proposed controller / regular inverse dynamics controller / A. General / high gain PID controller / ROBLEM FORMULATION A. Rigid body dynamics model / original controller / PID controller / resulting controller / original inverse dynamics controller / chair / normal inverse dynamics controller / controller / high-gain PID controller / /
Control of legged robots with optimal distribution of contact forces Ludovic Righetti, Jonas Buchli, Michael Mistry and Stefan Schaal Abstract— The development of agile and safe humanoid robots require controllers that