Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control

This paper considers the balance control of a biped robot under a constant external force or on a sloped ground. We have proposed a control method with feedback of the ground reaction forces and have realized adaptive posture changes that ensure the stability of the robot. However, fast responses ha...

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Detalles Bibliográficos
Autores principales: Ito, Satoshi, Nishio, Shingo, Fukumoto, Yuuki, Matsushita, Kojiro, Sasaki, Minoru
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Hindawi 2017
Materias:
Research Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5438867/
https://www.ncbi.nlm.nih.gov/pubmed/28555091
http://dx.doi.org/10.1155/2017/5980275

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5438867/
https://www.ncbi.nlm.nih.gov/pubmed/28555091
http://dx.doi.org/10.1155/2017/5980275

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