Titlebook: Whole-Body Control for Multi-Contact Balancing of Humanoid Robots; Design and Experimen Bernd Henze Book 2022 The Editor(s) (if applicable)

使顯得不重要

generic

Balance Control Based on Reduced Dynamic Models, presented in Sect.?., which governs the whole body of the robot, reduced models usually focus on the center of mass dynamics only. Although reduced models only approximate the actual dynamics of the robot, MPC has the advantage of being able to react in advance to future events in the reference trajectory.

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虛假

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喚起

Torque-Controlled Humanoid Robot TORO,e-controlled joints and multiple limbs. Quadrupeds are also a potential target platform, as the approaches from?Chaps.?. and?. are able to handle an arbitrary number of contacts. In this work, the control approaches are evaluated through several experiments with the humanoid Robot?. developed by the

改變立場

grounded

Combining Multi-contact Balancing with Hierarchical Whole-Body Control,s of the robot: The combined framework implements a dynamic decoupling of the tasks (Henze et al. .), such that low priority tasks do not disturb tasks with a high priority level. For instance, this feature can be beneficial if the robot carries a glass of water while performing a motion with the Co

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