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Convex Optimization Algorithms for Active Balancing of Humanoid Robots

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3 Author(s)
Juyong Park ; Samsung Adv. Inst. of Technol., Gyeonggi-Do ; Jaeyoung Haan ; Park, F.C.

We show that a large class of active balancing problems for legged robots can be framed as a second-order cone programming (SOCP) problem, a convex optimization problem for which efficient and numerically robust algorithms exist. We describe this general SOCP balancing framework, show that several existing optimization-based balancing strategies reduce to special cases of this more general formulation, and investigate the computational performance of our SOCP algorithms through simulation studies involving a humanoid model.

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Robotics, IEEE Transactions on  (Volume:23 ,  Issue: 4 )