Balancing Using Vertical Center-of-Mass Motion: A 2-D Analysis From Model to Robot
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DOI: 10.1109/lra.2019.2925303
Abstract: Balancing strategies for humanoid robots often include the center-of-pressure control (“ankle” strategies), change of body's angular momentum (e.g., “hip” strategies), and taking a step. In this letter, we propose using vertical center-of-mass motion as an… read more here.
Keywords: center mass; vertical center; control; robot ... See more keywords