Whole-Body Control for Multi-Contact Balancing of Humanoid Robots: Design and Experiments

By Bernd Henze

Introduction.- Notation.- Modeling.- Cartesian Compliance.- Torque-Controlled Humanoid Robot TORO.- Whole-Body Control for Multi-Contact Balancing.- Combining Multi-Contact Balancing with Hierarchical Whole-Body Control.- Balance Control based on Reduced Dynamic Models.- Applications.- Discussion and Conclusion.

• Format: Hardcover
• Language: English
• ISBN: 3030872114
• ISBN13: 9783030872113
• Release Date: November 2021
• Publisher: Springer
• Length: 199 Pages
• Weight: 1.06 lbs.
• Dimensions: 0.6" x 6.1" x 9.2"