2019
Balancing Using Vertical Center-of-Mass Motion: A 2-D Analysis From Model to Robot
RA-L 2019
Balancing strategies for humanoid robots often include the center-of-pressure control (“ankle” strategies), change of body's angular momentum (e.g., “hip” strategies), and taking a step. In this letter, we propose using vertical center-of-mass motion as an additional input for balance control. First