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20162022
most citedA Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots

24 citations · 75 across the 6 of their papers we have counts for

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Showing 2019Show all

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cs.RO2019★ 21 cited

A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots

Giulio Romualdi, Stefano Dafarra, Yue Hu +4

This paper contributes towards the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motio…