Benchmarking Whole‐Body Controllers on the TALOS Humanoid Robot
This article presents a comparison of three control schemes applied on the commercially available TALOS humanoid robot. The aim is to highlight the advantages and drawbacks of each model applied on three locomotion problems: walking on flat and non-flat terrain and climbing stairs. The different mod...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2022-03-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2022.826491/full |