3 accepted papers
A natural-looking arm swinging in biped locomotion can be generated by appropriately controlling the quantities derived from the momentum equilibrium principle such as the rate of change of the relative angular momentum or the relative angular acceleration (RAA). The arm swinging compensates complet
Walking control along preplanned footholds is ensured with the well-known DCM/VRP stabilization approach. To accommodate an external disturbance, the proposed walking controller uses CoM/VRP compliance, i.e. modification of the original DCM trajectories in accordance with the measured/estimated dist
A generalized inverse, referred to as the virtual-repellent-point generalized inverse (VRP-GI), is proposed to solve the underdetermined body-wrench distribution problem. The VRP-GI is derived as a modification of the divergent-component-of-motion generalized inverse (DCM-GI) introduced in a previou