269 citations · 1.2k across the 54 of their papers we have counts for
Showing 2014 · cs.ROShow all
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cs.RO2014★ 269 cited
Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid
Alexander Herzog, Nicholas Rotella, Sean Mason +3
Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowl…
cs.RO2014★ 111 cited
State Estimation for a Humanoid Robot
Nicholas Rotella, Michael Bloesch, Ludovic Righetti +1
This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach…