Whole-body control for multi-contact balancing of humanoid robots: design and experiments
Auteur :
Henze, Bernd
Éditeur :
Springer Nature Switzerland AG
ISBN :
9783030872144
Date de publication :
5 nov. 2022
Dimensions :
23,5 x 15,5 cm
Langue :
Anglais
Pays d'origine :
Suisse
This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot.