Angular Center of Mass for Humanoid Robots

  title={Angular Center of Mass for Humanoid Robots},
  author={Yu-Ming Chen and Gabriel M. Nelson and Robert J. Griffin and Michael Posa and Jerry E. Pratt},
The center of mass (CoM) has been widely used in planning and control for humanoid locomotion, because it carries key information about the position of a robot. In contrast, an ''angular center of mass'' (ACoM), which provides an ''average'' orientation of a robot, is less well-known in the community, although the concept has been in the literature for about a decade. In this paper, we introduce the ACoM from a CoM perspective. We optimize for an ACoM on the humanoid robot Nadia, and… 

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