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Balancing a Humanoid Robot Using Backdrive Concerned Torque Control and Direct Angular Momentum Feedback
ICRA, no. 1 (2001): 3376-3382
A novel balance control method for a humanoid robot is presented. It consists of a contact torque controller which is designed to have a good backdrivability and a feedback control of the total angular momentum and the center of gravity of a robot. A simulation result of a balance control using a 26 DOF humanoid robot model is shown.
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