Add to ORKGIn this paper a coordinate transformation is proposed that provides an inertially decoupled structure for the equations of motion of a floating base robot. As the center of mass (CoM) has been used both for locomotion and balancing of legged robots because of its decoupled dynamics from the rest of the system, we expect to benefit from our coordinate transformation since it allows to separate the linear and angular centroidal dynamics from the joint dynamics. Gaining insights about the model, simpler and more effective control laws can be developed. As an example of application, the proposed transformation is used in the derivation of a humanoid balance controller
Abstract. Decoupling of dynamic equations in robotic mechanisms has attracted many researchers in th...
© 2020 IEEE.The Spring-Loaded Inverted Pendulum (SLIP) template and its extensions have long been us...
Common control methods for free-floating robots assume zero initial linear and angular momenta, for ...
In this paper a coordinate transformation is proposed that provides an inertially decoupled structur...
At first glance, a floating-base robotic system is a kinematic chain, and its equations of motion ar...
Maintaining balance is fundamental to legged robots. The most commonly used mechanisms for balance c...
This research considers using center of mass (CoM) height variation as an input for balance control ...
Dynamic balance eliminates the fluctuating reaction forces and moments induced by high-speed robots ...
Abstract — In order to engage in useful activities upright legged creatures must be able to maintain...
Abstract — In this contribution we propose a reformulation of a momentum-based balance controller or...
This thesis presents a novel configuration: a wire-suspended floating platform, which can be used to...
One of the most important features of an advanced control system for articulated robots is the capab...
This paper investigates the problem of the dynamic balance control of multi-arm free-floating space ...
For walking robots, the robot’s absolute position must be re- flected in the state. Usually one choo...
Abstract—Nature has developed methods for controlling the movements of organisms with many degrees o...
Abstract. Decoupling of dynamic equations in robotic mechanisms has attracted many researchers in th...
© 2020 IEEE.The Spring-Loaded Inverted Pendulum (SLIP) template and its extensions have long been us...
Common control methods for free-floating robots assume zero initial linear and angular momenta, for ...
In this paper a coordinate transformation is proposed that provides an inertially decoupled structur...
At first glance, a floating-base robotic system is a kinematic chain, and its equations of motion ar...
Maintaining balance is fundamental to legged robots. The most commonly used mechanisms for balance c...
This research considers using center of mass (CoM) height variation as an input for balance control ...
Dynamic balance eliminates the fluctuating reaction forces and moments induced by high-speed robots ...
Abstract — In order to engage in useful activities upright legged creatures must be able to maintain...
Abstract — In this contribution we propose a reformulation of a momentum-based balance controller or...
This thesis presents a novel configuration: a wire-suspended floating platform, which can be used to...
One of the most important features of an advanced control system for articulated robots is the capab...
This paper investigates the problem of the dynamic balance control of multi-arm free-floating space ...
For walking robots, the robot’s absolute position must be re- flected in the state. Usually one choo...
Abstract—Nature has developed methods for controlling the movements of organisms with many degrees o...
Abstract. Decoupling of dynamic equations in robotic mechanisms has attracted many researchers in th...
© 2020 IEEE.The Spring-Loaded Inverted Pendulum (SLIP) template and its extensions have long been us...
Common control methods for free-floating robots assume zero initial linear and angular momenta, for ...