2020
Fast Whole-Body Motion Control of Humanoid Robots with Inertia Constraints
ICRA 2020poster
We introduce a new, analytical method for generating whole-body motions for humanoid robots, which approximate the desired Composite Rigid Body (CRB) inertia. Our approach uses a reduced five mass model, where four of the masses are attributed to the limbs and one is used for the trunk. This compact…