OTHER
Balancing a humanoid robot using backdrive concerned torque control and direct angular momentum feedback
Shuuji Kajita, Kazuhito Yokoi, Muneharu Saigo, K. Tanie
- Year
- 2002
- Citations
- 93
Abstract
A balance control method for a humanoid robot is presented. It consists of a contact torque controller which is designed to have a good backdrivability and a feedback control of the total angular momentum and the center of gravity of a robot. A simulation result of a balance control using a 26 DOF humanoid robot model is shown.
Keywords
Humanoid robotTorqueControl theory (sociology)Angular momentumController (irrigation)RobotComputer scienceRobot controlBalance (ability)Center of gravity
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