Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control

19 September 2018

Papers citing "Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control"

7 / 7 papers shown

Title
Centroidal Trajectory Generation and Stabilization based on Preview Control for Humanoid Multi-contact Motion Masaki Murooka Mitsuharu Morisawa F. Kanehiro 28 19 0 29 May 2025
Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning R. P. Singh M. Morisawa M. Benallegue Zhaoming Xie F. Kanehiro 65 1 0 18 Apr 2025
Surena-V: A Humanoid Robot for Human-Robot Collaboration with Optimization-based Control Architecture M. Bazrafshani A. Yousefi-Koma A. Amani B. Maleki Shahab Batmani ... Mahdi Nozari Amin Mozayyan Alireza Naeini M. Shafiee A. Vedadi 89 1 0 28 Jan 2025
Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer M. Benallegue Abdelaziz Benallegue Y. Chitour 26 12 0 31 Oct 2018
Balance control using both ZMP and COM height variations: A convex boundedness approach Stéphane Caron Bastien Mallein 20 20 0 19 Sep 2017
Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas Georg Wiedebach Sylvain Bertrand Tingfan Wu Luca Fiorio Stephen McCrory Robert Griffin F. Nori J. Pratt 25 77 0 27 Jul 2016
Stability of Surface Contacts for Humanoid Robots: Closed-Form Formulae of the Contact Wrench Cone for Rectangular Support Areas Stéphane Caron Quang Pham Yoshihiko Nakamura 39 104 0 20 Jan 2015