Inverse Dynamics with Contact Force Prediction
Samuel Zapolsky, Evan Drumwright, Ioannis Havoutis, Jonas Buchli, and Claudio Semini. “Inverse Dynamics for a Quadruped Robot Locomoting Along Slippery Surfaces”. Proc. 16th Intl. Conf. on Climbing and Walking Robots (CLAWAR), Sydney, Austrailia, July 2013. Zapolsky2013
Locomoting unsuccessfully and falling on a Slippery Surface while using a PD error-feedback controller:
Locomoting Smoothly on a Slippery Surface while using our controller
This research was a collaborative effort between the Advanced Robotics Lab at the Fondazione Istituto Italiano di Tecnologia (HyQ Team At IIT) and The Positronics Lab at The George Washington University.