Model-Based Posture Control for a Torque-Controlled Humanoid Robot

  • Maximo A. RoaEmail author
  • Bernd Henze
  • Christian Ott
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)


This talk presents an overview of the development of a full-body model-based passivity approach for posture control of a humanoid robot. The controller exploits passivity properties to provide suitable control inputs for the humanoid robot without requiring a solution to the inverse kinematics problem of the full kinematic chain. The controller has been validated in numerous experiments using the torque-controlled humanoid robot TORO, developed at the German Aerospace Center (DLR).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Institute of Robotics and MechatronicsGerman Aerospace Center (DLR)WesslingGermany

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