Simulation-based design of dynamic controllers for humanoid balancing

Zhaoming Xie
Zhaoming Xie

IROS, pp. 2729-2736, 2016.

Cited by: 21|Bibtex|Views16
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Other Links: dblp.uni-trier.de|academic.microsoft.com

Abstract:

Model-based trajectory optimization often fails to find a reference trajectory for under-actuated bipedal robots performing highly-dynamic, contact-rich tasks in the real world due to inaccurate physical models. In this paper, we propose a complete system that automatically designs a reference trajectory that succeeds on tasks in the real...More

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