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cs.RO2024
Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics
Junewhee Ahn, Jaesug Jung, Yisoo Lee +3
In this study, we present a novel method for enhancing the computational efficiency of whole-body control for humanoid robots, a challenge accentuated by their high degrees of free…
cs.RO2024★ 5 cited
MOB-Net: Limb-modularized Uncertainty Torque Learning of Humanoids for Sensorless External Torque Estimation
Daegyu Lim, Myeong-Ju Kim, Junhyeok Cha +1
Momentum observer (MOB) can estimate external joint torque without requiring additional sensors, such as force/torque or joint torque sensors. However, the estimation performance o…