IEEE - Institute of Electrical and Electronics Engineers, Inc. - Motion generation for the upper body of humanoid robot

2009 Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC)

Author(s): Dengpeng Xing ; Jianbo Su
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2009
Conference Location: Shanghai, China, China
Conference Date: 15 December 2009
Page(s): 6,064 - 6,069
ISBN (CD): 978-1-4244-3872-3
ISBN (Paper): 978-1-4244-3871-6
ISSN (CD): 0191-2216
ISSN (Paper): 0191-2216
DOI: 10.1109/CDC.2009.5399716
Regular:

This paper presents two motion generation methods for the upper body of the humanoid robot in order to guarantee the equilibrium condition of the yaw moment in bipedal planning based on the ZMP... View More

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