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

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Applications,noid robot . (see Chap.?.) while balancing. The applications demonstrate that the whole-body controllers can be integrated into the software ecosystem of a humanoid robot, which features a multitude of components besides the balancing controller, such as vision and planning. The variety of applicati

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Discussion and Conclusion,ocomotion. This work extends this paradigm by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts to support itself. One of the main aspects is the solution of the wrench distribution problem, which arises from the resulting c

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1610-7438 hich allows a humanoid robot.Is winner of the George Giralt .This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balanci

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Whole-Body Control for Multi-contact Balancing,y comprise the legs but also the arms of the robot, which yields to the presented framework for Whole-Body Control (WBC) of humanoid robots. The framework allows the robot to either use the end-effectors to generate the required support or to interact with the environment.

Parallel

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Torque-Controlled Humanoid Robot TORO,rbitrary number of contacts. In this work, the control approaches are evaluated through several experiments with the humanoid Robot?. developed by the . (.). An overview of the system architecture is given below.

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Applications, of a humanoid robot, which features a multitude of components besides the balancing controller, such as vision and planning. The variety of applications emphasizes the versatility and the robustness of the developed whole-body control approaches.

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