4 accepted papers
In this paper, as an approach to stabilize humanoid walking where the height of CoM varies, a Novel Model Predictive Control framework based on three dimensional Divergent Component of Motion (3D-DCM) is proposed. To ensure the feasible utilization of contact forces for maintaining humanoid balance,
Recently, foot stepping strategies of humanoid robots have been actively developed for robust balancing of humanoids against disturbances. In this paper, a novel stepping algorithm adjusting double support phase (DSP) time is proposed. First, the stepping algorithm is proposed based on a model predi…
The estimation of external joint torque and contact wrench is essential for achieving stable locomotion of humanoids and safety-oriented robots. Although the contact wrench on the foot of humanoids can be measured using a force-torque sensor (FTS), FTS increases the cost, inertia, complexity, and fa…
Maintaining balance to external pushes is one of the most important features for a humanoid to walk in a real environment. In particular, methods for counteracting to pushes using the centroidal angular momentum (CAM) control have been actively developed. In this paper, a CAM control scheme based on…