Balance Control of Biped Robot Running with One Arm in Task Motion

Abstract

This paper proposes a control method for running biped robot with desired arm motion based on resolved momentum control. The focus is to maintain robot stability by using redundant degrees of freedom when running biped robot has desired arm motion. Motions for robot stability are calculated by predetermined the reference angular momentum keeping robot… (More)

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Cite this paper

@inproceedings{Choi2012BalanceCO, title={Balance Control of Biped Robot Running with One Arm in Task Motion}, author={See Myoung Choi and Je Sung Yeon and Jong Hyeon Park}, year={2012} }