Dynamic Balance Force Control for compliant humanoid robots

By Benjamin J. Stephens, Christopher G. Atkeson. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

301 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Pulmonary and Respiratory Medicine

View Paper: https://www.semanticscholar.org/paper/46af588141a644acbf6e5fa633aa7ecedc4e8e9d

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Biomedical Engineering

1. Twan Koolen
2. Tomas de Boer
3. John R. Rebula
4. Jerry E. Pratt
5. Matt Johnson
6. Eric C. Whitman
7. John Carff
8. Sébastien Cotton

Citations in the corpus

• Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid (2012, methodology): “Stephens and Atkeson (2010) introduced an algorithm that combines joint PD control, virtual model control and dynamic balance force control.”
• Control of Instantaneously Coupled Systems applied to humanoid walking (2010, background): “They are computed before use, and this computation does not affect the run-time performance of the controller.”