Abstract— This paper presents a framework for the dynamical formulation and control of humanoid systems. In this framework unactuated virtual joints are used to describe the huma...
This paper introduces an open architecture humanoid robotics platform (OpenHRP for short) on which various building blocks of humanoid robotics can be investigated. OpenHRP is a v...
Abstract— This paper presents a methodology for the modeling and control of internal forces and moments produced during multi-contact interactions between humanoid robots and the...
This paper introduces an open architecture humanoid robotics platform (OpenHRP for short) on which various building blocks of humanoid robotics can be investigated. OpenHRP is a v...
— This article explains a control system, which stabilizes running biped robot HRP-2LR. The robot uses prescribed running pattern calculated by resolved momentum control, and a r...