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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots: Design and Experiments

Whole-Body Control for Multi-Contact Balancing of Humanoid Robots: Design and Experiments

Hardcover

Series: Springer Tracts in Advanced Robotics, Book 143

Technology & Engineering

ISBN10: 3030872114
ISBN13: 9783030872113
Publisher: Springer
Published: Nov 4 2021
Pages: 199
Weight: 1.06
Height: 0.56 Width: 6.14 Depth: 9.21
Language: English
Introduction.- Notation.- Modeling.- Cartesian Compliance.- Torque-Controlled Humanoid Robot TORO.- Whole-Body Control for Multi-Contact Balancing.- Combining Multi-Contact Balancing with Hierarchical Whole-Body Control.- Balance Control based on Reduced Dynamic Models.- Applications.- Discussion and Conclusion.

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Henze, Bernd

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Technology & Engineering