Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios

@article{Henze2016PassivitybasedWB,
  title={Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios},
  author={Bernd Henze and M{\'a}ximo A. Roa and Christian Ott},
  journal={I. J. Robotics Res.},
  year={2016},
  volume={35},
  pages={1522-1543}
}
This work presents a new control approach to multi-contact balancing for torque-controlled humanoid robots. The controller includes a non-strict task hierarchy, which allows the robot to use a subset of its end effectors for balancing while the remaining ones can be used for interacting with the environment. The controller creates a passive and compliant behavior for regulating the center of mass (CoM) location, hip orientation and the poses of each end effector assigned to the interaction task… CONTINUE READING
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