Abstract
An online posture modification method termed Jacobi Compensation is proposed which is suitable to modify precalculated step trajectories for a humanoid robot in certain task coordinate directions. This method can account for modeling errors in trajectory precalculation by shifting e. g. the center of mass or certain parts of the humanoid mechanism to increase walking equilibrium and performance. A theoretical analysis of stability properties is given.
| Translated title of the contribution | Online haltungskorrektur für humanoide laufroboter |
|---|---|
| Original language | English |
| Pages (from-to) | 396-404 |
| Number of pages | 9 |
| Journal | At-Automatisierungstechnik |
| Volume | 54 |
| Issue number | 8 |
| DOIs | |
| State | Published - 2006 |
Keywords
- Humanoid robot
- Jacobi compensation
- Walking control