A momentum-based balance controller for humanoid robots on non-level and non-stationary ground

Autonomous Robots

Volumn 33, Issue 4, 2012, Pages 399-414

  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; Momentum control; Non level ground

Indexed keywords

CENTER OF PRESSURE; COMPUTATIONALLY EFFICIENT; FRICTIONAL PROPERTIES; GROUND REACTION FORCES; HUMANOID ROBOT; INTUITIVE CONTROLS; LARGE ROTATION; LINEAR LEAST SQUARES; LINEAR MOMENTA; MOMENTUM CONTROL; MOVING SUPPORT; NON-LEVEL GROUND; NONSTATIONARY; ROTATIONAL DYNAMICS;

ANGULAR MOMENTUM; ANTHROPOMORPHIC ROBOTS; BIOPHYSICS; LEAST SQUARES APPROXIMATIONS; MOTION PLANNING;

CONTROLLERS;

EID: 84868357594     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1007/s10514-012-9294-z     Document Type: Article

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