Optimization of the ground reaction force for the humanoid robot balance control
Abstract
This paper proposes an effective framework to control humanoid-ground physical interaction for balance. The key concept is to control both humanoid robot linear and angular momenta, which are computed by the whole body kinematics. We firstly determine the ground reaction force (GRF) according to the momenta and then distribute the GRF to the two feet. After determining the foot GRFs, we calculate the joint torques to realize the foot GRFs....
Paper Details
Title
Optimization of the ground reaction force for the humanoid robot balance control
Published Date
Aug 12, 2021
Journal
Volume
232
Issue
10
Pages
4151 - 4167
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