Simultaneous tracking and balancing of humanoid robots for imitating human motion capture data

@article{Yamane2009SimultaneousTA,
  title={Simultaneous tracking and balancing of humanoid robots for imitating human motion capture data},
  author={Katsu Yamane and Jessica K. Hodgins},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2009},
  pages={2510-2517}
}
This paper presents a control framework for humanoid robots that uses all joints simultaneously to track motion capture data and maintain balance. The controller comprises two main components: a balance controller and a tracking controller. The balance controller uses a regulator designed for a simplified humanoid model to obtain the desired input to keep balance based on the current state of the robot. The simplified model is chosen so that a regulator can be designed systematically using, for… CONTINUE READING
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Integral control of humanoid balance

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