39 citations · 44 across the 17 of their papers we have counts for
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cs.RO2017
Unsupervised Contact Learning for Humanoid Estimation and Control
Nicholas Rotella, Stefan Schaal, Ludovic Righetti
This work presents a method for contact state estimation using fuzzy clustering to learn contact probability for full, six-dimensional humanoid contacts. The data required for trai…
cs.RO2017★ 39 cited
Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints
Sean Mason, Nicholas Rotella, Stefan Schaal +1
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algori…