Bipedal Balancing Control based on the Centroidal Momentum Pivot and the Best COM-CMP Regulator
Sprache des Vortragstitels:
39th Annual Conference of the IEEE Industrial Electronics Society (IECON 2013)
Sprache des Tagungstitel:
For stable walking of bipedal robots it is necessary
to stabilize the unactuated degrees of freedom of the robot.
Typically this is done by reducing the non-linear multi-body
dynamics to a simple approximation and then controlling the
linear momentum of the system. In this paper a feedback
controller is proposed that also controls the angular momentum
in a feedback loop while considering the full multi-body dynamics
to extend the set of balanced states.