Titlebook: Whole-Body Control for Multi-Contact Balancing of Humanoid Robots; Design and Experimen Bernd Henze Book 2022 The Editor(s) (if applicable)

使显得不重要

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Balance Control Based on Reduced Dynamic Models, presented in Sect. ., which governs the whole body of the robot, reduced models usually focus on the center of mass dynamics only. Although reduced models only approximate the actual dynamics of the robot, MPC has the advantage of being able to react in advance to future events in the reference trajectory.

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厌倦吗你

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Torque-Controlled Humanoid Robot TORO,e-controlled joints and multiple limbs. Quadrupeds are also a potential target platform, as the approaches from Chaps. . and . are able to handle an arbitrary number of contacts. In this work, the control approaches are evaluated through several experiments with the humanoid Robot . developed by the

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Combining Multi-contact Balancing with Hierarchical Whole-Body Control,s of the robot: The combined framework implements a dynamic decoupling of the tasks (Henze et al. .), such that low priority tasks do not disturb tasks with a high priority level. For instance, this feature can be beneficial if the robot carries a glass of water while performing a motion with the Co

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