Rating is available when the video has been rented.
This feature is not available right now. Please try again later.
Uploaded on Apr 19, 2011
In this experiment, the humanoid robot is walking in place using a model predictive controller (MPC) that continuously optimizes desired footstep locations and center of mass (COM) motion. The Sarcos Humanoid Robot has force-controlled joints. Full body control is achieved using multi-objective inverse dynamics plus low PD gain tracking control.