A momentum-based balance controller for humanoid robots on non-level and non-stationary ground

@article{Lee2012AMB,
  title={A momentum-based balance controller for humanoid robots on non-level and non-stationary ground},
  author={Sung-Hee Lee and Ambarish Goswami},
  journal={Autonomous Robots},
  year={2012},
  volume={33},
  pages={399-414}
}
Recent research suggests the importance of controlling rotational dynamics of a humanoid robot in balance maintenance and gait. In this paper, we present a novel balance strategy that controls both linear and angular momentum of the robot. The controller’s objective is defined in terms of the desired momenta, allowing intuitive control of the balancing behavior of the robot. By directly determining the ground reaction force (GRF) and the center of pressure (CoP) at each support foot to realize… CONTINUE READING
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