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The embodiment of physical compliance in humanoid robots, inspired by biology, improves the robustness of locomotion in unknown environments. The mechanical implementation using elastic materials demands a further combination together with controlled compliance to make the intrinsic compliance more effective. We hereby present an active compliance control to stabilize the humanoid robots for standing...
This paper presents a stabilization framework integrated with the estimation of the terrain inclination to balance a humanoid on the changing slope as an extension to our previous study. In this paper, the estimation of the terrain inclination is improved for walking in place on an inclination-varying slope. A passivity based admittance control utilizes the force/torque sensing in feet to actively...
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