Compliant terrain adaptation for biped humanoids without measuring ground surface and contact forces

IEEE Transactions on Robotics

Volumn 25, Issue 1, 2009, Pages 171-178

  Hyon, Sang Ho ^a,b  

^a ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

^b JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

Author keywords

Balance; Compliance; Contact force; Humanoid robots; Passivity based control; Redundancy; Terrain adaptation

Indexed keywords

FRICTION; INTELLIGENT ROBOTS; PASSIVATION; POWER CONTROL; QUALITY ASSURANCE; REDUNDANCY;

BALANCE; COMPLIANCE; CONTACT FORCE; HUMANOID ROBOTS; PASSIVITY-BASED CONTROL; TERRAIN ADAPTATION;

ROBOTICS;

EID: 60549085931     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.2006870     Document Type: Article

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