– Conservation of angular momentum that introduces nonholonomic behavior, underactuation and time dependence, makes the trajectory planning of gymnastic robots difficult. By defi...
Evangelos Papadopoulos, Ioannis Fragkos, Ioannis T...
Abstract— A number of conceptually simple but behaviorrich “inverted pendulum” humanoid models have greatly enhanced the understanding and analytical insight of humanoid dyna...
Abstract— Recent humanoid control investigations have emphasized the importance of controlling whole-body angular momentum throughout a movement task. For typical movement tasks,...