3 accepted papers
Tendons in tendon-driven mechanisms are relatively weak components and sometimes break. This letter proposes a detection method of tendon breakage and a switching control system for tendon-driven mechanisms with redundant tendons. The detection method immediately detects the tendon breakage from the
This paper presents a trajectory planner for humanoid robots based on nonlinear model predictive control that can generate trajectories with variable center of mass (COM) heights and adaptive foot positions in real-time. This is done by analytically formulating the zero moment point constraint as a
This paper presents a trajectory generator for humanoid robots that can simultaneously consider 3D position tracking of the center-of-mass (COM), reactive stepping (foot positions are non-constant), zero-moment-point (ZMP) constraints as well as position constraints. The variable COM height leads to…