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MOB-Net: Limb-modularized uncertainty torque learning of humanoids for sensorless external torque estimation
Momentum observer (MOB) can estimate external joint torque without requiring additional
sensors, such as force/torque or joint torque sensors. However, the estimation performance …
sensors, such as force/torque or joint torque sensors. However, the estimation performance …
Adaptive step duration for precise foot placement: Achieving robust bipedal locomotion on terrains with restricted footholds
Z ** strategies
The robust balancing capability of humanoid robots against disturbances has been
considered as one of the crucial requirements for their practical mobility in real-world …
considered as one of the crucial requirements for their practical mobility in real-world …
Adapting gait frequency for posture-regulating humanoid push-recovery via hierarchical model predictive control
Current humanoid push-recovery strategies often use whole-body motion, yet posture
regulation is often overlooked. For instance, during manipulation tasks, the upper body may …
regulation is often overlooked. For instance, during manipulation tasks, the upper body may …
A Walk Primitive with Double Support for Biped Robots
G Liu, Z Lu, Z Li, J Xuan, A Liu - Journal of Bionic Engineering, 2024 - Springer
Walking is the basic locomotion pattern for bipedal robots. The walking pattern is widely
generated using the linear inverted pendulum model. The linear inverted pendulum motion …
generated using the linear inverted pendulum model. The linear inverted pendulum motion …
Implementing Torque Control-Based Biped Walking of Humanoid Robots with High Reduction Gear and No Joint Torque Feedback
YH Han, BK Cho - … IEEE-RAS 22nd International Conference on …, 2023 - ieeexplore.ieee.org
Most adult-sized bipedal and humanoid robots primarily use high-reduction gears to achieve
high torque output of their joints. However, these high-reduction gears have problems such …
high torque output of their joints. However, these high-reduction gears have problems such …
Impact of Control Frequency on Deep RL-Based Torque Controller for Bipedal Locomotion
In the realm of traditional humanoid torque control, a prevalent practice involves
meticulously tracking preplanned joint motions using high-frequency controllers to solve …
meticulously tracking preplanned joint motions using high-frequency controllers to solve …
A Robust Balancing Control for Humanoid Robots based on Model Predictive Capture Point Control
김명주 - 2024 - s-space.snu.ac.kr
The robust balancing capability of humanoid robots against disturbances has been
considered as one of the crucial requirements for their practical mo-bility in real-world …
considered as one of the crucial requirements for their practical mo-bility in real-world …
휴머노이드 로봇 보행 기술의 연구 동향
김명주， 임대규， 김동현， 차준혁， 신재용… - 제어로봇시스템학회 …, 2024 - dbpia.co.kr
Humanoid robots are regarded as versatile robot platforms that are capable of traversing
diverse terrains and performing dangerous or challenging tasks on behalf of humans …
diverse terrains and performing dangerous or challenging tasks on behalf of humans …