Passivity-based full-body force control for humanoids and application to dynamic balancing and locomotion

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 4915-4922

  Hyon, Sang Ho ^a,b   Cheng, Gordon ^a,b  

^a Japan Science and Technology Agency   (Japan)

^b ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

Author keywords

Balance; Full body motion control; Gravity compensation; Humanoid robots; Locomotion; Passivity

Indexed keywords

CLOSED LOOP SYSTEMS; DEGREES OF FREEDOM (MECHANICS); FORCE CONTROL; MOTION COMPENSATION; MOTION CONTROL; MOTION PLANNING;

DYNAMIC BALANCING; FULL-BODY MOTION CONTROL; GRAVITY COMPENSATION; HUMANOID ROBOTS; LOCOMOTION; PASSIVITY;

MOBILE ROBOTS;

EID: 34250647114     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.282450     Document Type: Conference Paper

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