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This paper proposes ankle torque and foot placement control methods in the coronal plane (frontal or roll) for a humanoid robot. It is an important problem to control the posture of a humanoid robot in the coronal plane during walking. When the humanoid robot walks, the phase portrait of the pelvis position in the coronal makes an elliptical shape. In this paper, we develop an ankle torque and foot...
This paper introduces a novel approach to control a wheeled inverted pendulum when a disturbance is applied by a human. The interaction between a human and a wheeled inverted pendulum involves a pulling or pushing force. This type of action is a severe disturbance for a wheeled inverted pendulum, as the wheeled inverted pendulum tends to maintain its initial position if there is no desired input....
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