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Robot."],"published-print":{"date-parts":[[2016,3]]},"abstract":"<jats:p> This paper presents a momentum-based control framework for floating-base robots and its application to the humanoid robot \u201cAtlas\u201d. At the heart of the control framework lies a quadratic program that reconciles motion tasks expressed as constraints on the joint acceleration vector with the limitations due to unilateral ground contact and force-limited grasping. We elaborate on necessary adaptations required to move from simulation to real hardware and present results for walking across rough terrain, basic manipulation, and multi-contact balancing on sloped surfaces (the latter in simulation only). The presented control framework was used to secure second place in both the DARPA Robotics Challenge Trials in December 2013 and the Finals in June 2015. <\/jats:p>","DOI":"10.1142\/s0219843616500079","type":"journal-article","created":{"date-parts":[[2016,4,1]],"date-time":"2016-04-01T04:54:12Z","timestamp":1459486452000},"page":"1650007","source":"Crossref","is-referenced-by-count":213,"title":["Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas"],"prefix":"10.1142","volume":"13","author":[{"given":"Twan","family":"Koolen","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, Massachusetts 02139, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sylvain","family":"Bertrand","sequence":"additional","affiliation":[{"name":"Institute for Human and Machine Cognition, 40 Alcaniz Street, Pensacola, Florida 32502, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gray","family":"Thomas","sequence":"additional","affiliation":[{"name":"University of Texas at Austin, 5706 Jeff Davis Ave, Austin, Texas 78756, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tomas","family":"de Boer","sequence":"additional","affiliation":[{"name":"Institute for Human and Machine Cognition, 40 Alcaniz Street, Pensacola, Florida 32502, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tingfan","family":"Wu","sequence":"additional","affiliation":[{"name":"Institute for Human and Machine Cognition, 40 Alcaniz Street, Pensacola, Florida 32502, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jesper","family":"Smith","sequence":"additional","affiliation":[{"name":"Institute for Human and Machine Cognition, 40 Alcaniz Street, Pensacola, Florida 32502, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Johannes","family":"Englsberger","sequence":"additional","affiliation":[{"name":"Deutsches Zentrum f\u00fcr Luft und Raumfahrt, Linder H\u00f6he, 51147 K\u00f6ln, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jerry","family":"Pratt","sequence":"additional","affiliation":[{"name":"Institute for Human and Machine Cognition, 40 Alcaniz Street, Pensacola, Florida 32502, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2016,4]]},"reference":[{"key":"S0219843616500079BIB003","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912452673"},{"key":"S0219843616500079BIB004","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"S0219843616500079BIB005","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000058"},{"key":"S0219843616500079BIB006","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843605000594"},{"key":"S0219843616500079BIB017","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2234351"},{"key":"S0219843616500079BIB018","author":"Righetti L.","year":"2013","journal-title":"Int. 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