Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids
K Kawaharazuka, Y Ribayashi, A Miki… - 2022 IEEE/RSJ …, 2022 - ieeexplore.ieee.org
The musculoskeletal humanoid is difficult to modelize due to the flexibility and redundancy
of its body, whose state can change over time, and so balance control of its legs is …
of its body, whose state can change over time, and so balance control of its legs is …
Benchmarking Dynamic Balancing Controllers for Humanoid Robots
This paper presents a comparison study of three control design approaches for humanoid
balancing based on the Center of Mass (C o M) stabilization and body posture adjustment …
balancing based on the Center of Mass (C o M) stabilization and body posture adjustment …
Resolved viscoelasticity control for robust walking of a humanoid with knee-stretched posture considering singularity
K Yamamoto, K Murotani, T Ko, Y Nakamura - Robotics and Autonomous …, 2022 - Elsevier
Resolved viscoelasticity control (RVC) method resolves multiple viscoelasticities in the task-
space, including the center of gravity viscoelasticity for balancing, into the joint-space …
space, including the center of gravity viscoelasticity for balancing, into the joint-space …
人体模倣をコンセプトとした腱駆動ヒューマノイドの研究開発
浅野悠紀 - 日本ロボット学会誌, 2021 - jstage.jst.go.jp
腱駆動ヒューマノイドは, 人間の筋や腱によって身体を動かす運動原理の再現を意図し,
ヒューマノイド身体の受動関節をワイヤ駆動型のアクチュエータによって駆動するヒューマノイドの …
ヒューマノイド身体の受動関節をワイヤ駆動型のアクチュエータによって駆動するヒューマノイドの …