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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots : Design and Experiments
by Bernd Henze
Other Available Formats
Overview
Introduction.- Notation.- Modeling.- Cartesian Compliance.- Torque-Controlled Humanoid Robot TORO.- Whole-Body Control for Multi-Contact Balancing.- Combining Multi-Contact Balancing with Hierarchical Whole-Body Control.- Balance Control based on Reduced Dynamic Models.- Applications.- Discussion and Conclusion.
This item is Non-Returnable
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Details
- ISBN-13: 9783030872113
- ISBN-10: 3030872114
- Publisher: Springer
- Publish Date: November 2021
- Dimensions: 9.21 x 6.14 x 0.56 inches
- Shipping Weight: 1.06 pounds
- Page Count: 199
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