269 citations · 569 across the 8 of their papers we have counts for
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cs.RO2015★ 37 cited
Humanoid Momentum Estimation Using Sensed Contact Wrenches
Nicholas Rotella, Alexander Herzog, Stefan Schaal +1
This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplifie…
cs.RO2015★ 91 cited
Trajectory generation for multi-contact momentum-control
Alexander Herzog, Nicholas Rotella, Stefan Schaal +1
Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks th…