A review of state estimation of humanoid robot targeting the center of mass, base kinematics, and external wrench-Reference-Cited by-同舟云学术

A review of state estimation of humanoid robot targeting the center of mass, base kinematics, and external wrench

Published:2020-10-30 Issue:21-22 Volume:34 Page:1380-1389
ISSN:0169-1864
Container-title:Advanced Robotics
language:en
Short-container-title:Advanced Robotics

Author:

Masuya Ken¹,Ayusawa Ko²³

Affiliation:

1. Department of Mechanical Engineering, School of Engineering, Tokyo Institute of Technology, Meguro-ku, Japan

2. CNRS-AIST JRL (Joint Robotics Laboratory), IRL, Tukuba, Japan

3. National Institute of Advanced Industrial Science and Technology (AIST), Tukuba, Japan

Publisher

Informa UK Limited

Subject

Computer Science Applications,Hardware and Architecture,Human-Computer Interaction,Software,Control and Systems Engineering

Link

https://www.tandfonline.com/doi/pdf/10.1080/01691864.2020.1835532

Reference50 articles.

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2. Control of walking robots based on manipulation of the zero moment point

3. Sugihara T , Nakamura Y , Inoue H. Realtime humanoid motion generation through ZMP manipulation based on inverted pendulum control. In: Proceedings of the 2002 IEEE International Conference on Robotics and Automation. Vol. 2. Washington, DC, USA. 2002 May. p. 1404–1409.

4. Sugihara T. Standing stabilizability and stepping maneuver in planar bipedalism based on the best COM-ZMP regulator. In: Proceedings of the 2002 IEEE International Conference on Robotics and Automation. Kobe, Japan. 2009 May. p. 1966–1971.

5. Sugihara T. Dynamics morphing from regulator to oscillator on bipedal control. In: Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. St.Louis, MO, USA. 2009 Oct. p. 2940–2945.

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