Arxiv Preprint. The first experiment, shows the Hume biped robot balancing on a high pitch split terrain with and without push disturbances. We implement a Whole-Body Operational Space Controller to compute joint torques consistent with a desired set of operational…

Congratulations to Nick Paine for defending and passing his PhD defense. What a wonderful thesis: The UT-SEA, Valkyrie, Darpa Robotics Challenge, …