37 citations · 97 across the 22 of their papers we have counts for
3 papers · 1 filter
Contact Force and Joint Torque Estimation Using Skin
Francisco Javier Andrade Chavez, Joan Kangro, Silvio Traversaro +2
In this paper, we present algorithms to estimate external contact forces and joint torques using only skin, i.e. distributed tactile sensors. To deal with gaps between the tactile…
An Optimization Based Control Framework for Balancing and Walking: Implementation on the iCub Robot
Marie Charbonneau, Gabriele Nava, Francesco Nori +1
A whole-body torque control framework adapted for balancing and walking tasks is presented in this paper. In the proposed approach, centroidal momentum terms are excluded in favor…
Momentum Control of Humanoid Robots with Series Elastic Actuators
Gabriele Nava, Daniele Pucci, Francesco Nori
Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity,…