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

21 citations · 21 across the 1 of their papers we have counts for

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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…