— Human walking emerges from synergy of whole body dynamics: not only legs, but also a torso, arms, and a head are compliantly connected with each other by antagonistic muscles. ...
— This paper presents an integrative approach to solve the coupled problem of reaching and grasping an object in a cluttered environment with a humanoid robot. While finding an ...
Michael Gienger, Marc Toussaint, Christian Goerick
Abstract— This paper presents a framework for the dynamical formulation and control of humanoid systems. In this framework unactuated virtual joints are used to describe the huma...
— This paper presents a balance controller that allows a humanoid to recover from large disturbances and still maintain an upright posture. Balance is achieved by integral contro...
—The properties of dissipative haptic displays allow larger workspaces that permit a whole body interaction useful for sports, rehabilitation, and large-scale object design appli...