Dynamic Balancing of Humanoid Robot with Proprioceptive Actuation: Systematic Design of Algorithm, Software, and Hardware

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...

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Bibliographic Details
Main Authors: Yan Xie, Jiajun Wang, Hao Dong, Xiaoyu Ren, Liqun Huang, Mingguo Zhao
Format: Article
Language:English
Published: MDPI AG 2022-09-01
Series:Micromachines
Subjects:
whole-body control
hierarchical optimization
humanoid robot balance
proprioceptive actuation
Online Access:https://www.mdpi.com/2072-666X/13/9/1458

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