4 accepted papers
This paper studies the experimental comparison of two different whole-body control formulations for humanoid robots: inverse dynamics whole-body control (ID-WBC) and passivity-based whole-body control (PB-WBC). The two controllers fundamentally differ from each other as the first is formulated in ta
One of the essential aspects of humanoid robot running is determining the limb-swinging trajectories. During the flight phases, where the ground reaction forces are not available for regulation, the limb swinging trajectories are significant for the stability of the next stance phase. Due to the con
Spring loaded inverted pendulum (SLIP) is a template dynamics used to model the steady-state running of humans and animals ranging from cockroaches to horses. This study extends the conventional 3D SLIP model with a foot and an active controller to also model transitioning from stationary to high-sp
This study extends the whole-body control (WBC) formulation for bipedal humanoid robots that include closed (parallel) kinematic chains in their structure. Along with general formulation, we also stress the implementation of this formulation on Kangaroo, which is a highly dynamic humanoid robot deve…