Kazuya Murotani

Resolved Viscoelasticity Control Considering Singularity for Knee-stretched Walking of a Humanoid

This paper describes a stable knee-stretched walking of a humanoid by the resolved viscoelasticity control (RVC). The RVC method resolves multiple viscoelasticities in task-space, including the center of mass viscoelasticity for balancing, into joint-space viscoelasticity. Although a robust and comp…