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A balance control method for a humanoid robot is presented. It consists of a contact torque controller which is designed to have a good backdrivability and a feedback control of the total angular momentum and the center of gravity of a robot. A simulation result of a balance control using a 26 DOF humanoid robot model is shown.
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on (Volume:4 )
Date of Conference: 2001