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cs.RO2018
Towards Partner-Aware Humanoid Robot Control Under Physical Interactions
Yeshasvi Tirupachuri, Gabriele Nava, Claudia Latella +5
The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical inte…
cs.RO2018
Exploiting Friction in Torque Controlled Humanoid Robots
Gabriele Nava, Diego Ferigo, Daniele Pucci
A common architecture for torque controlled humanoid robots consists in two nested loops. The outer loop generates desired joint/motor torques, and the inner loop stabilises these…