If biped robots should interact with humans in everyday tasks and environments, they must have a proper control system that allows them to balance (compliantly ... while including friction ...

An in-depth discussion of the method is presented in the paper ‘Passivity-Based Whole-Body Balancing for Torque-Controlled Humanoid Robots in Multi-Contact Scenarios’, IJRR 2016. DOI: ...

Torque vectoring control uses the Focus braking system to imitate the effect of limited-slip differential, constantly balancing the distribution of engine output between the driven front wheels to ...

This provides a corrective torque and prevents gimbal lock. [Hyperspace Pirate] does an excellent job of explaining the math and control theory behind the system. He implemented a PD-controller ...

Formal, who returns to WTR’s Lamborghini Huracan GT3 EVO2 entry in GTD alongside new-for-2025 co-driver Trent Hindman, ...