4 accepted papers
This paper addresses robust landing stabilization in humanoid locomotion on uneven terrain. The core idea is to find a configuration of the robot that results in small impulsive force when an unexpected obstacle is encountered, and to adjust post-contact reference for swing foot with which the pose…
In this paper, we propose the stabilization strategy for a soft landing in a biped walking using impedance control and the optimization-based whole-body control framework. Even though proper contact forces and desired trajectories of the robot are given, the robot can be unstable easily if unexpecte…
This paper addresses reactive generation of step time and location of biped robots for balance recovery against a severe push. Key idea is to reformulate the balance recovery problem into a tracking problem for "hybrid" inverted pendulum model of the biped, where taking a new step implicitly yields…
When a robotic manipulator is controlled, computing gravity force of the robot is the primary issue. Exact model parameters are not easy to be known in the practical robot system due to the uncertainty of the robot dynamics. Hence, the gravity force is presented by a combination of gravity regressor…