Dynamic Balancing of Humanoid Robot with Proprioceptive Actuation: Systematic Design of Algorithm, Software, and Hardware
For humanoid robots, maintaining a dynamic balance against uncertain disturbance is crucial, and this function can be achieved by coordinating the whole body to perform multiple tasks simultaneously. Researchers generally accept hierarchical whole-body control (WBC) to address this function. Althoug...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-09-01
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| Series: | Micromachines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-666X/13/9/1458 |