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Humanoid robot posture includes a phase where the stance heel rises from the ground and the stance foot rotates about the stance toe. The humanoid robot becomes under-actuated system in this phase. First, the dynamical model of robot is developed and the controllability of the robot is analyzed. Then, the controller can be designed based on Linear Quadratic Regulator (LQR) optimal control theory....
Balance maintenance under unexpected environment is a key requirement for safe and successful coexistence of humanoid robots in normal human environments. The motion of a humanoid robot includes a phase where the stance foot rotates about the stance toe when the humanoid robot comes to a small object on the ground. The equation of motion has the form of an underactuated system in this phase. The objective...
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