Exploiting angular momentum to enhance bipedal center-of-mass control
Recent humanoid control investigations have emphasized the importance of controlling whole-body angular momentum throughout a movement task. For typical movement tasks, such as normal walking, such controllers minimize fluctuations in angular momentum about the center of mass (CM). This minimization...
| Main Authors: | , , |
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| Other Authors: | , |
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers,
2010-10-15T17:53:31Z.
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| Subjects: | |
| Online Access: | Get fulltext |