IEEE - Institute of Electrical and Electronics Engineers, Inc. - Three-dimensional bipedal walking control using Divergent Component of Motion

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Johannes Englsberger ; Christian Ott ; Alin Albu-Schaffer
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 2,600 - 2,607
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696723
Regular:

In this paper, we extend the Divergent Component of Motion (DCM, also called `Capture Point') to 3D. We introduce the "Enhanced Centroidal Moment Pivot point" (eCMP) and the "Virtual Repellent... View More

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