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Evaluation of Whole-Body Control Architectures for Humanoid Balance in Simulation with Learning-Based Residual Compensation
Ulpange Aluthgedara, Tharindu Dananjaya
University West, Department of Engineering Science.
2026 (English)
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE credits
Student thesis
Place, publisher, year, edition, pages
2026. , p. 46
Keywords [en]
Whole-body control, Humanoid robots, Residual learning, Balance control, Mu JoCo, Unitree H1
National Category
Robotics and automation
Identifiers
URN:
urn:nbn:se:hv:diva-26075
Local ID: EXC915
OAI: oai:DiVA.org:hv-26075
DiVA, id:
diva2:2095909
Subject / course
Robotics
Educational program
Master i robotik och automation
Supervisors
Zhang, Xiaoxiao
University West, Department of Engineering Science, Division of industrial automation.
Examiners
Ramanathan, Prabhu K.
University West, Department of Engineering Science, Division of electrical engineering.
Available from:
2026-08-28
Created:
2026-08-27
Last updated:
2026-08-31
Bibliographically approved
Open Access in DiVA
fulltext
(2544 kB)
5 downloads
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FULLTEXT01.pdf
File size
2544 kB
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c9e1848fcf6a9bd5d3e8435c6119b9ba6fb61ece9635b20e70b5df98a7776595d3a08f55dcd5e83ee349668921f33ed53e4cd5904a63459be6d5cdd3cdda668c
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fulltext
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Department of Engineering Science
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Robotics and automation
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