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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:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Henze, Berndbernd.henze (at) dlr.deUNSPECIFIED
Dietrich, Alexanderalexander.dietrich (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Date:29 December 2015
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
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:17 Nov 2018 05:02

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