Whole-body Cooperative Reaction Force Manipulation on Legged Robots with COG Jacobian involving Implicit Representation of Unactuated Coordinates
نویسندگان
چکیده
منابع مشابه
Whole-body cooperative balancing of humanoid robot using COG Jacobian
Since humanoid robots have a number of degreesof-freedom in general, a pattern-based approach of the motion control reduces its di culty. It is necessary, however, to absorb and compensate disturbances in order to maintain the stability of robots in the real world. We developed a balancing method for humanoid robots with a little modi cation of predesigned motion trajectories. The method propos...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2006
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.24.222