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Recent research suggests the importance of controlling rotational dynamics of a humanoid robot in balance maintenance and gait. In this paper, we present a novel balance strategy that controls both linear and angular momentum of the robot. The controller’s objective is defined in terms of the desired momenta, allowing intuitive control of the balancing behavior of the robot. By directly determining...
We present a novel momentum-based method for maintaining balance of humanoid robots. By controlling the desired ground reaction force (GRF) and center of pressure (CoP) at each support foot, our method can naturally deal with non-level and non-stationary ground at each foot-ground contact, as well as different frictional properties. We do not make use of the net GRF and CoP which may be difficult...
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