Simultaneous adaptation to rough terrain and unknown external forces for biped humanoids

Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007

Volumn , Issue , 2007, Pages 19-26

  Hyon, Sang Ho ^a   Cheng, Gordon ^b  

^a JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

^b ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

Author keywords

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

Indexed keywords

ANTHROPOMORPHIC ROBOTS; BALANCING; CONTROLLERS; FRICTION; LANDFORMS; REDUNDANCY;

COMPLIANCE; CONTACT FORCES; HUMANOID ROBOT; PASSIVITY BASED CONTROL; TERRAIN ADAPTATION;

COMPLIANCE CONTROL;

EID: 67649742524     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2007.4813844     Document Type: Conference Paper

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