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An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research

2020

Article

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Author(s): Felix Grimminger, and Avadesh Meduri, and Majid Khadiv, and Julian Viereck, and Manuel Wüthrich, and Maximilien Naveau, and Vincent Berenz, and Steve Heim, and Felix Widmaier, and Thomas Flayols, and Jonathan Fiene, and Alexander Badri-Spröwitz, and Ludovic Righetti
Journal: The IEEE Robotics and Automation Letters
Volume: 5
Number (issue): 2
Pages: 3650 - 3657
Year: 2020
Month: April
Publisher: IEEE

Department(s): Autonomous Motion, Dynamic Locomotion, Empirical Inference, Movement Generation and Control, Robotics, Service Group
Bibtex Type: Article (article)
Paper Type: Journal

DOI: 10.1109/LRA.2020.2976639
State: Published
URL: https://arxiv.org/abs/1910.00093

Links: Youtube
Open Dynamic Robot Initiative
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BibTex

@article{grimminger2020a,
  title = {An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research},
  author = {Grimminger, Felix and Meduri, Avadesh and Khadiv, Majid and Viereck, Julian and W{\"u}thrich, Manuel and Naveau, Maximilien and Berenz, Vincent and Heim, Steve and Widmaier, Felix and Flayols, Thomas and Fiene, Jonathan and Badri-Spr{\"o}witz, Alexander and Righetti, Ludovic},
  journal = {The IEEE Robotics and Automation Letters},
  volume = {5},
  number = {2},
  pages = {3650 - 3657},
  publisher = {IEEE},
  month = apr,
  year = {2020},
  url = {https://arxiv.org/abs/1910.00093},
  month_numeric = {4}
}