Ground reaction force control at each foot: A momentum-based humanoid balance controller for non-level and non-stationary ground

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 3157-3162

  Lee, Sung Hee ^a   Goswami, Ambarish ^b  

^a Gwangju Institute of Science and Technology (GIST)   (South Korea)

^b HONDA RESEARCH INSTITUTE   (United States)

Author keywords

Centroidal momentum matrix; Humanoid robot balance; Linear and angular momentum; Non level ground

Indexed keywords

BALANCE CONTROL METHOD; CENTER OF PRESSURE; FRICTIONAL PROPERTIES; GROUND CONTACTS; GROUND REACTION FORCES; HUMANOID ROBOT; LINEAR AND ANGULAR MOMENTUM; MATRIX; MOVING SUPPORT; NON-LEVEL GROUND; NONSTATIONARY;

ANGULAR MOMENTUM; ANTHROPOMORPHIC ROBOTS;

INTELLIGENT ROBOTS;

EID: 78651489030     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5650416     Document Type: Conference Paper

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