2019
Dynamic Stepping on Unknown Obstacles With Upper-Body Compliance and Angular Momentum Damping From the Reaction Null-Space
ICRA 2019poster
Contact destabilization after an impact that occurs at high-speed, e.g. when a robot steps on an obstacle of unknown height, can be tackled by injecting angular momentum damping for a short time interval immediately after the impact. This is done by making use of the motion from within the reaction…