Daiki Morozumi

Energy-Based Closed-Form Solution of the Divergent Component of Motion for Nonlinear Inverted Pendulum Trajectories

The divergent component of motion (DCM) quantifies the unstable component of a robot's motion and is widely used for online motion planning and stabilization in robots. Although the DCM is derived from the linear inverted pendulum model, which admits a closed-form solution, extending it to nonlinear