Decoupling of Inertia Effect in Angular Momentum of a Humanoid and Its Application to Resolved Viscoelasticity Control
2022 International Conference on Robotics and Automation (ICRA)（2022）
关键词
inertia effect,resolved viscoelasticity control,basic part,centroidal dynamics,an-gular momentum,humanoid motion control,whole-body motion,whole-body angular momentum,centroidal angular momentum,angular momentum control,whole-body compliance,single support states,landing motion
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