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Practical considerations in using inverse dynamics on a humanoid robot: Torque tracking, sensor fusion and Cartesian control laws

Salman Faraji, Luca Colasanto, Auke Jan Ijspeert. Practical considerations in using inverse dynamics on a humanoid robot: Torque tracking, sensor fusion and Cartesian control laws. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28 - October 2, 2015. pages 1619-1626, IEEE, 2015. [doi]

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Salman Faraji

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Luca Colasanto

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Auke Jan Ijspeert

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