Centroidal dynamics of a humanoid robot
The center of mass (CoM) of a humanoid robot occupies a special place in its dynamics. As
the location of its effective total mass, and consequently, the point of resultant action of …
the location of its effective total mass, and consequently, the point of resultant action of …
A momentum-based balance controller for humanoid robots on non-level and non-stationary ground
Recent research suggests the importance of controlling rotational dynamics of a humanoid
robot in balance maintenance and gait. In this paper, we present a novel balance strategy …
robot in balance maintenance and gait. In this paper, we present a novel balance strategy …
Centroidal momentum matrix of a humanoid robot: Structure and properties
The centroidal momentum of a humanoid robot is the sum of the individual link momenta,
after projecting each to the robotpsilas Center of Mass (CoM). Centroidal momentum is a …
after projecting each to the robotpsilas Center of Mass (CoM). Centroidal momentum is a …
Ground reaction force control at each foot: A momentum-based humanoid balance controller for non-level and non-stationary ground
We present a novel momentum-based method for maintaining balance of humanoid robots.
By controlling the desired ground reaction force (GRF) and center of pressure (CoP) at each …
By controlling the desired ground reaction force (GRF) and center of pressure (CoP) at each …
Postural balance strategies in response to disturbances in the frontal plane and their implementation with a humanoid robot
Y Yoshida, K Takeuchi, Y Miyamoto… - … on Systems, Man …, 2013 - ieeexplore.ieee.org
We examine postural reaction and balance recovery patterns occurring when a standing
upright human is subjected to a sudden disturbance within the frontal plane, with the aim of …
upright human is subjected to a sudden disturbance within the frontal plane, with the aim of …
Whole-body human-to-humanoid motion transfer
This paper explores movement transfer from humans to humanoid robots. Our goal is to
produce human-like motions in humanoid robots by capturing human motions and …
produce human-like motions in humanoid robots by capturing human motions and …
Zero moment point manipulability ellipsoid
N Naksuk, CSG Lee - … on Robotics and Automation, 2006. ICRA …, 2006 - ieeexplore.ieee.org
In this paper, we propose zero moment point (ZMP) manipulability ellipsoid as an extension
to the existing ZMP balance criterion. The ZMP manipulability ellipsoid was developed by …
to the existing ZMP balance criterion. The ZMP manipulability ellipsoid was developed by …
Enhancing zero moment point-based control model: system identification approach
The approximation of a humanoid robot by an inverted pendulum is one of the most
frequently used models to generate a stable walking pattern using a planned zero moment …
frequently used models to generate a stable walking pattern using a planned zero moment …
Utilization of movement prioritization for whole-body humanoid robot trajectory generation
N Naksuk, CSG Lee - Proceedings of the 2005 IEEE …, 2005 - ieeexplore.ieee.org
This paper addresses the problem of whole-body trajectory generation in humanoid robot
performing a manipulation task. The approach utilizes coordination of prioritized movements …
performing a manipulation task. The approach utilizes coordination of prioritized movements …
Walking control of a humanoid robot via explicit and stable com manipulation with the angular momentum resolution
K Ahn, Y Oh - 2006 IEEE/RSJ International Conference on …, 2006 - ieeexplore.ieee.org
This paper presents a walking algorithm for bipedal humanoid robots in the motion-
embedded CoM Jacobian framework with angular momentum resolution. Walking …
embedded CoM Jacobian framework with angular momentum resolution. Walking …