Actuator Control for the NASA-JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots

Paine, Nicholas; Mehling, Joshua S.; Holley, James; Johnson, Gwendolyn; Radford, Nicolaus A.; Sentis, Luis; Fok, Chien-Liang

doi:10.1002/rob.21556

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Actuator Control for the NASA-JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots : Actuator Control for the NASA-JSC Valkyrie Humanoid Robot

Author(s): Nicholas Paine , Joshua S. Mehling , James Holley , Nicolaus A. Radford , Gwendolyn Johnson , Chien-Liang Fok , Luis Sentis

Publication date Created: May 2015

Publication date (Print): May 15 2015

Journal: Journal of Field Robotics

Publisher: Wiley-Blackwell

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Most cited references 16

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Modeling and Control of Elastic Joint Robots

M. Spong (1987)

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A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots

Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger (2016)

0 comments Cited 82 times – based on 0 reviews      Review now

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Emergency response to the nuclear accident at the Fukushima Daiichi Nuclear Power Plants using mobile rescue robots

Keiji Nagatani, Seiga Kiribayashi, Yoshito Okada … (2013)

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Author and article information

Journal

Title: Journal of Field Robotics

Abbreviated Title: J. Field Robotics

Publisher: Wiley-Blackwell

ISSN: 15564959

Publication date Created: May 2015

Publication date (Print): May 15 2015

Volume: 32

Issue: 3

Pages: 378-396

Article

DOI: 10.1002/rob.21556

SO-VID: a8e6a979-4c23-4733-9907-4efcf56f1f9f

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http://doi.wiley.com/10.1002/tdm_license_1.1

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