Balancing a humanoid robot using backdrive concerned torque control and direct angular momentum feedback

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2001, Pages 3376-3382

  Kajita, S ^a   Yokoi, K ^a   Saigo, M ^a   Tanie, K ^a  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); FEEDBACK CONTROL; MOTION PLANNING; TORQUE CONTROL;

HUMANOID ROBOTS;

ROBOTS;

EID: 0034871520     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2001.933139     Document Type: Conference Paper

References (7)

1. The development of Honda humanoid robot
2. V-HRP: Virtual humanoid robot platform
3. Realization of natural dynamic walking using the angular momentum information
4. Realtime balance compensation for dyanamic motion of full-body humanoid standing on one leg
5. On the stability of anthropomorphic systems
6. Development of a bipedal humanoid robot - Control method of whole body cooperative dynamic biped walking