IEEE - Institute of Electrical and Electronics Engineers, Inc. - Compliant attitude control and stepping strategy for balance recovery with the humanoid COMAN

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

Author(s): Nicolas Perrin ; Nikolaos Tsagarakis ; Darwin G. Caldwell
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): 4,145 - 4,151
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696950
Regular:

In this paper we describe an approach for hu-manoid robot balance recovery that combines a novel attitude control algorithm adding compliance to the robot's behavior and increasing the smoothness... View More

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