2 search results - page 1 / 1 » Centroidal Momentum Matrix of a humanoid robot: Structure an... |
IROS
2008
IEEE
13 years 10 months ago
2008
IEEE
— The centroidal momentum of a humanoid robot is the sum of the individual link momenta, after projecting each to the robot’s Center of Mass (CoM). Centroidal momentum is a lin...
ICRA
2007
IEEE
13 years 10 months ago
2007
IEEE
Abstract— A number of conceptually simple but behaviorrich “inverted pendulum” humanoid models have greatly enhanced the understanding and analytical insight of humanoid dyna...