Controlling Humanoid Robots with Human Motion Data: Experimental Validation
In this paper, we improve the controller to address the issues related to root position/orientation estimation, model uncertainties, and the difference between expected and actual contact forces.
Control-Aware Mapping of Human Motion Data with Stepping for Humanoid Robots
This paper presents a method for mapping captured human motion with stepping to a humanoid model, considering the current state and the controller behavior.
Simultaneous Tracking and Balancing of Humanoid Robots for Imitating Human Motion Capture Data
This paper presents a control framework for humanoid robots that uses all joints simultaneously to track motion capture data and maintain balance.
Optimization and Control of Cyclic Biped Locomotion on a Rolling Cylinder
This project investigates the optimization of, and presents a control framework for, a biped robot to maintain balance and walk on a rolling ball.
Ball Walker: A Case Study of Humanoid Robot Locomotion in Non-stationary Environments
This paper presents a control framework for a biped robot to maintain balance and walk on a rolling ball. The control framework consists of two primary components: a balance controller and a footstep planner.
Joohyung Kim
Moritz Bächer
Günter Niemeyer
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