193 citations · 217 across the 4 of their papers we have counts for
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eess.SY2022
Torque Controlled Locomotion of a Biped Robot with Link Flexibility
Nahuel A Villa, Pierre Fernbach, Maximilien Naveau +4
When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can…
cs.RO2022
On the Use of Torque Measurement in Centroidal State Estimation
Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella +4
State of the art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint…