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Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots.
Mathematical programming 27
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Lee, S.H., Goswami, A.: Ground reaction force control at each foot: A momentum-based humanoid balance controller for non-level and non-stationary ground · 2010
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Kalakrishnan, M., Buchli, J., Pastor, P., Mistry, M., Schaal, S.: Learning, Planning, and Control for Quadruped Locomotion over Challenging Terrain · 2011
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IEEE Transactions on Robotics 27
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Righetti, L., Buchli, J., Mistry, M., Schaal, S.: Control of legged robots with optimal distribution of contact forces · 2011
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Salini, J., Padois, V., Bidaud, P.: Synthesis of Complex Humanoid Whole-Body Behavior: A Focus on Sequencing and Tasks Transitions · 2011
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In: Robotics: Science and Systems (R:SS) (2012)
Bloesch, M., Hutter, M., Hoepflinger, M.H., Remy, C.D., Gehring, C., Siegwart, R.: State estimation for legged robots-consistent fusion of leg kinematics and IMU · 2012
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In: IEEE/RSJ Intl Conf on Intelligent Robots and Systems (2012)
Boaventura, T., Focchi, M., Frigerio, M., Buchli, J., Semini, C., Medrano-Cerda, G.A., Caldwell, D.: On the role of load motion compensation in high-performance force control · 2012
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Boaventura, T., Semini, C., Buchli, J., Frigerio, M., Focchi, M., Caldwell, D.: Dynamic Torque Control of a Hydraulic Quadruped Robot · 2012
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In: IEEE-RAS International Conference on Humanoid Robots (2013)
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The Intl Journal of Robotics Research 32
Righetti, L., Buchli, J., Mistry, M., Kalakrishnan, M., Schaal, S.: Optimal distribution of contact forces with inverse-dynamics control · 2013
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Saab, L., Ramos, O., Mansard, N., Soueres, P., Fourquet, J.Y.: Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints · 2013
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In: 2013 IEEE International Conference on Robotics and Automation (2013)
Wensing, P., Orin, D.: Generation of dynamic humanoid behaviors through task-space control with conic optimization · 2013
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The International Journal of Robotics Research 33
Ayusawa, K., Venture, G., Nakamura, Y.: Identifiability and identification of inertial parameters using the underactuated base-link dynamics for legged multibody systems · 2014
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In: Robotics: Science and Systems (R:SS) (2012)
Hutter, M., Hoepflinger, M.A., Gehring, C., Bloesch, M., Remy, C.D., Siegwart, R.: Hybrid Operational Space Control for Compliant Legged Systems · 2012
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Autonomous Robots 33
Lee, S.H., Goswami, A.: A momentum-based balance controller for humanoid robots on non-level and non-stationary ground · 2012
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In: IEEE Intl Conf on Robotics and Automation (2012)
Mansard, N.: A dedicated solver for fast operational-space inverse dynamics · 2012
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The Intl Journal of Robotics Research 31
Pratt, J., Koolen, T., De Boer, T., Rebula, J., Cotton, S., Carff, J., Johnson, M., Neuhaus, P.: Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid · 2012
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Urata, J., Nshiwaki, K., Nakanishi, Y., Okada, K., Kagami, S., Inaba, M.: Online Walking Pattern Generation for Push Recovery and Minimum Delay to Commanded Change of Direction and Speed · 2012
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Herzog, A., Righetti, L., Grimminger, F., Pastor, P., Schaal, S.: Momentum-based balance control for torque-controlled humanoids · 2013
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The International Journal of Robotics Research 33
Escande, A., Mansard, N., Wieber, P.B.: Hierarchical quadratic programming: Fast online humanoid-robot motion generation · 2014
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In: IEEE International Conference on Robotics and Automation (2014)
Faraji, S., Pouya, S., Atkeson, C., Ijspeert, A.: Versatile and robust 3d walking with a simulated humanoid robot (atlas): a model predictive control approach · 2014
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In: IEEE International Conference on Robotics and Automation (2014)
Feng, S., Xinjilefu, X., Huang, W., Atkeson, C.: 3d walking based on online optimization · 2014
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In: IEEE/RSJ Intl Conf on Intelligent Robots and Systems (2014)
Herzog, A., Righetti, L., Grimminger, F., Pastor, P., Schaal, S.: Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics · 2014
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In: IEEE International Conference on Robotics and Automation (2014)
Kuindersma, S., Permenter, F., Tedrake, R.: An efficiently solvable quadratic program for stabilizing dynamic locomotion · 2014
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In: IEEE-RAS Intl Conf on Humanoid Robots (2014)
Mason, S., Righetti, L., Schaal, S.: Full dynamics lqr control of a humanoid robot: An experimental study on balancing and squatting · 2014
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In: IEEE/RSJ Intl Conf on Intelligent Robots and Systems (2014)
Rotella, N., Bloesch, M., Righetti, L., Schaal, S.: State Estimation for a Humanoid Robot · 2014
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In: Humanoid Robots (Humanoids), 2014 14th IEEE-RAS International Conference on, pp. 671–676 (2014)
Vaillant, J., Kheddar, A., Audren, H., Keith, F., Brossette, S., Kaneko, K., Morisawa, M., Yoshida, E., Kanehiro, F.: Vertical ladder climbing by the HRP-2 humanoid robot · 2014
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