Bipedal Balancing Control based on the Centroidal Momentum Pivot and the Best COM-CMP Regulator

Description

For stable walking of bipedal robots it is necessary to stabilize the unactuated degrees of freedom of the robot. Typically this is done by reducing the non-linear multi-body dynamics to a simple approximation and then controlling the linear momentum of the system. In this paper a feedback controller is proposed that also controls the angular momentum in a feedback loop while considering the full multi-body dynamics to extend the set of balanced states.

Period	12 Nov 2013
Event title	39th Annual Conference of the IEEE Industrial Electronics Society (IECON 2013)
Event type	Conference
Location	AustriaShow on map