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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots: Design and Experiments (2022)

by Whole-Body Control for Multi-Contact Balancing of Humanoid Robots: Design and Experiments (2022)

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Description

Introduction.- Notation.- Modeling.- Cartesian Compliance.- Torque-Controlled Humanoid Robot TORO.- Whole-Body Control for Multi-Contact Balancing.- Combining Multi-Contact Balancing with Hierarchical Whole-Body Control.- Balance Control based on Reduced Dynamic Models.- Applications.- Discussion and Conclusion.

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Product Details

  • Nov 5, 2022 Pub Date:
  • 3030872149 ISBN-10:
  • 9783030872144 ISBN-13:
  • English Language