Balance control using center of mass height variation: Limitations imposed by unilateral contact
Maintaining balance is fundamental to legged robots. The most commonly used mechanisms for balance control are taking a step, regulating the center of pressure ('ankle strategies'), and to a lesser extent, changing centroidal angular momentum (e.g., 'hip strategies'). In this pap...
| Main Authors: | , , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
IEEE,
2019-09-16T19:16:16Z.
|
| Subjects: | |
| Online Access: | Get fulltext |