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This paper presents the implementations of Model Predictive Control for the standing balance control of a humanoid to reject external disturbances. The strategies allow the robot to have a compliant behaviour against external forces resulting in a stable and smooth response. The first, ZMP based controller, compensates for the center of mass deviation while the second, attitude controller, regulates...
In research of biped walking robot, energy-efficiency is an important issue. Full-actuated type robots using ZMP based control have high environmental adjustability and high robustness, but they consume much energy. On the other hand, passive dynamic walking type robots have high energy-efficiency, but they don't have high-environmental adjustability and robustness. Then, we have proposed an optimal...
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