5 accepted papers
A natural-looking arm swinging in biped locomotion can be generated by appropriately controlling the quantities derived from the momentum equilibrium principle such as the rate of change of the relative angular momentum or the relative angular acceleration (RAA). The arm swinging compensates complet
Walking control along preplanned footholds is ensured with the well-known DCM/VRP stabilization approach. To accommodate an external disturbance, the proposed walking controller uses CoM/VRP compliance, i.e. modification of the original DCM trajectories in accordance with the measured/estimated dist
Contact destabilization after an impact that occurs at high-speed, e.g. when a robot steps on an obstacle of unknown height, can be tackled by injecting angular momentum damping for a short time interval immediately after the impact. This is done by making use of the motion from within the reaction…
A generalized inverse, referred to as the virtual-repellent-point generalized inverse (VRP-GI), is proposed to solve the underdetermined body-wrench distribution problem. The VRP-GI is derived as a modification of the divergent-component-of-motion generalized inverse (DCM-GI) introduced in a previou
This work describes how to use reactionless motion control with a free-floating space robot, suggesting thereby some tasks of practical importance. We show that the reactionless motion capability is directly affected by the kinematic structure of the manipulator, depending thereby upon the existence…