Balancing experiments on a torque‐controlled humanoid with hierarchical inverse 
dynamics

Herzog, Alexander; Righetti, Ludovic; Grimminger, Felix; Pastor, Peter; Schaal, Stefan

doi:10.1109/IROS.2014.6942678

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Balancing experiments on a torque‐controlled humanoid with hierarchical inverse dynamics

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Herzog, Alexander
Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society;

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Righetti, Ludovic
Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society;
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Grimminger, Felix
Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society;

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Schaal, Stefan
Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society;
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Herzog, A., Righetti, L., Grimminger, F., Pastor, P., & Schaal, S. (2014). Balancing experiments on a torque‐controlled humanoid with hierarchical inverse dynamics. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) (pp. 981-988). Piscataway, NJ: IEEE. doi:10.1109/IROS.2014.6942678.

Cite as: https://hdl.handle.net/11858/00-001M-0000-0024-D30E-9

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