10 citations · 13 across the 3 of their papers we have counts for
3 papers
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots
Stefano Dafarra, Gabriele Nava, Marie Charbonneau +8
A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of thr…
An Optimization Based Control Framework for Balancing and Walking: Implementation on the iCub Robot
Marie Charbonneau, Gabriele Nava, Francesco Nori +1
A whole-body torque control framework adapted for balancing and walking tasks is presented in this paper. In the proposed approach, centroidal momentum terms are excluded in favor…
On-line Joint Limit Avoidance for Torque Controlled Robots by Joint Space Parametrization
Marie Charbonneau, Francesco Nori, Daniele Pucci
This paper proposes control laws ensuring the stabilization of a time-varying desired joint trajectory, as well as joint limit avoidance, in the case of fully-actuated manipulators…