Atlas Humanoid walking with straight legs
Published on Nov 29, 2018
Atlas humanoid walking with straighter legs. Control algorithm by IHMC Robotics. The height of the robot is left uncontrolled in the whole-body controller, but the knee angles are specified in the null-space of the other task objects. This allows the robot to balance laterally while standing straight up. Published in ICRA 2018, "Straight-Leg Walking Through Underconstrained Whole-body Control."
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