Vertical angular momentum minimization for biped robots with kinematically redundant joints

【Author】

Markus Schwienbacher;Thomas Buschmann;Heinz Ulbrich;

【Abstract】

<正>We address the problem of angular momentum compensation for kinematically redundant biped robots.This is an important issue in biped walking,since large changes in angular momentum lead to large contact forces which can make the robot slip and fall. In this paper a method to minimize the vertical angular momen-

【Keywords】

In;Vertical angular momentum minimization for biped robots with kinematically redundant joints;show;

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