Posture/walking control for humanoid robot based on kinematic resolution of CoM Jacobian with embedded motion

IEEE Transactions on Robotics

Volumn 23, Issue 6, 2007, Pages 1285-1293

  Choi, Youngjin ^a   Kim, Doik ^b   Oh, Yonghwan ^b   You, Bum Jae ^b  

^a Hanyang University   (South Korea)

^b Korea Institute of Science and Technology   (South Korea)

Author keywords

Center of mass; Center of mass (CoM); CoM Jacobian; Disturbance input to state stability (ISS); Humanoid robots; Jacobian matrices; Legged locomotion; Posture control; Posture walking control; Whole body coordination (WBC); Zero moment point (ZMP)

Indexed keywords

BIPED LOCOMOTION; JACOBIAN MATRICES; KINEMATICS; MATHEMATICAL MODELS; MOTION CONTROL;

CENTER OF MASS; DISTURBANCE INPUT-TO-STATE STABILITY; HUMANOID ROBOT; LEGGED LOCOMOTION; POSTURE CONTROL; ZERO MOMENT POINT;

ANTHROPOMORPHIC ROBOTS;

EID: 37549030489     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2007.904907     Document Type: Article

References (12)

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