Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground

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Giftsun, Nirmal; Del Prete, Andrea; Lamiraux, Florent;
  • Publisher: HAL CCSD
  • Subject: Inverse-Dynamics Control | Robust Control | [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO] | Humanoid Robots | [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] | Optimization and Optimal Control
    arxiv: Computer Science::Robotics

International audience; Model-based control has become more and more popular in the legged robots community in the last ten years. The key idea is to exploit a model of the system to compute precise motor commands that result in the desired motion. This allows to improv... View more
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