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"Whole-Body Torque Control Without Joint Position Control Using ..."

Takuma Hiraoka et al. (2023)

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DOI: 10.1109/IROS55552.2023.10341698

access: closed

type: Conference or Workshop Paper

metadata version: 2024-01-05

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Takuma Hiraoka, Shimpei Sato, Naoki Hiraoka, Annan Tang, Kunio Kojima, Kei Okada, Masayuki Inaba, Koji Kawasaki:
Whole-Body Torque Control Without Joint Position Control Using Vibration-Suppressed Friction Compensation for Bipedal Locomotion of Gear-Driven Torque Sensorless Humanoid. IROS 2023: 8544-8550

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