166 citations · 645 across the 36 of their papers we have counts for
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math.OC2017
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,…
math.OC2016
Stability Analysis and Design of Momentum-based Controllers for Humanoid Robots
Gabriele Nava, Francesco Romano, Francesco Nori +1
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable contr…