Quadrupedal locomotion using hierarchical operational space control

Implementation and stability analysis of prioritized whole-body compliant controllers on a wheeled humanoid robot in uneven terrains

(2013) Luis Sentis et al.   AUTONOMOUS ROBOTS

Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints

(2013) Layale Saab et al.   IEEE Transactions on Robotics

Optimal distribution of contact forces with inverse-dynamics control

(2013) Ludovic Righetti et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy

(2012) Alexander Dietrich et al.   IEEE Transactions on Robotics

Locomotion skills for simulated quadrupeds

(2011) Stelian Coros et al.   ACM TRANSACTIONS ON GRAPHICS

Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task

(2011) Oussama Kanoun et al.   IEEE Transactions on Robotics

Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots

(2010) Luis Sentis et al.   IEEE Transactions on Robotics

A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks

(2009) N. Mansard et al.   IEEE Transactions on Robotics

Operational Space Control: A Theoretical and Empirical Comparison

(2008) Jun Nakanishi et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH