269 citations · 2k across the 61 of their papers we have counts for
3 papers · 1 filter
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…
Local Gaussian Regression
Franziska Meier, Philipp Hennig, Stefan Schaal
Locally weighted regression was created as a nonparametric learning method that is computationally efficient, can learn from very large amounts of data and add data incrementally.…
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…