Whole-body control for multi-contact balancing of humanoid robots [electronic resource] : design and experiments / Bernd Henze.

This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary num...

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Bibliographic Details

Online Access:	Full Text (via Springer)
Main Author:	Henze, Bernd
Format:	Electronic eBook
Language:	English
Published:	Cham, Switzerland : Springer, [2022]
Series:	Springer tracts in advanced robotics ; v. 143.
Subjects:	Robots > Control systems. Androids.