Whole-body cooperative balancing of humanoid robot using COG Jacobian

  title={Whole-body cooperative balancing of humanoid robot using COG Jacobian},
  author={Tomomichi Sugihara and Yoshihiko Nakamura},
Since humanoid robots have a number of degreesof-freedom in general, a pattern-based approach of the motion control reduces its di culty. It is necessary, however, to absorb and compensate disturbances in order to maintain the stability of robots in the real world. We developed a balancing method for humanoid robots with a little modi cation of predesigned motion trajectories. The method proposed has an advantage that it is allowed to choose any combination of joints as modi ed properties, so… CONTINUE READING
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