An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots

Henze, Bernd and Dietrich, Alexander and Ott, Christian (2015) An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2015.2512933. ISSN 2377-3766.

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Item URL in elib:

https://elib.dlr.de/101387/

Document Type:

Article

Title:

An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots

Authors:

Authors	Institution or Email of Authors	Author's ORCID iD
Henze, Bernd	UNSPECIFIED	UNSPECIFIED
Dietrich, Alexander	UNSPECIFIED	https://orcid.org/0000-0003-3463-5074
Ott, Christian	UNSPECIFIED	https://orcid.org/0000-0003-0987-7493

Date:

29 December 2015

Journal or Publication Title:

IEEE Robotics and Automation Letters

Refereed publication:

Yes

Open Access:

Yes

Gold Open Access:

In SCOPUS:

In ISI Web of Science:

DOI:

10.1109/LRA.2015.2512933

Publisher:

IEEE - Institute of Electrical and Electronics Engineers

ISSN:

2377-3766

Status:

Published

Keywords:

Compliance and Impedance Control, Force Control, Humanoid Robots, Redundant Robots

HGF - Research field:

Aeronautics, Space and Transport

HGF - Program:

Space

HGF - Program Themes:

Space System Technology

DLR - Research area:

Raumfahrt

DLR - Program:

R SY - Space System Technology

DLR - Research theme (Project):

R - Terrestrial Assistance Robotics (old)

Location:

Oberpfaffenhofen

Institutes and Institutions:

Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems

Deposited By:

Henze, Bernd

Deposited On:

13 Jan 2016 11:42

Last Modified:

28 Nov 2022 08:31

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