Posture and balance control for biped robots based on contact force optimization

IEEE-RAS International Conference on Humanoid Robots

Volumn , Issue , 2011, Pages 26-33

  Ott, Christian ^a   Roa, Maximo A ^a   Hirzinger, Gerd ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

BALANCE CONTROL; BIPED ROBOT; BIPEDAL ROBOT; CENTER OF MASS; CONTACT FORCES; CONTACT POINTS; CONTROL APPROACH; EUCLIDEAN NORM; EXTERNAL PERTURBATIONS; FORCE DISTRIBUTIONS; OPTIMIZATION PROBLEMS;

ANTHROPOMORPHIC ROBOTS; END EFFECTORS; TOOLS;

CONSTRAINED OPTIMIZATION;

EID: 84856345169     PISSN: 21640572     EISSN: 21640580     Source Type: Conference Proceeding    
DOI: 10.1109/Humanoids.2011.6100882     Document Type: Conference Paper

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