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Development of a lightweight and high-efficiency compact cycloidal reducer for legged robots
Actuating systems for the proprioceptive control of legged robots must have a high
mechanical efficiency and mechanical bandwidth for high torque transmission to avoid …
mechanical efficiency and mechanical bandwidth for high torque transmission to avoid …
Torque control of a wheeled humanoid robot with dual redundant arms
Most of conventional controllers are prone to consume more computational time for
controlling a wheeled humanoid robot. A nonlinear trajectory control of a wheeled humanoid …
controlling a wheeled humanoid robot. A nonlinear trajectory control of a wheeled humanoid …
Implementing torque control-based biped walking of humanoid robots with high reduction gear and no joint torque feedback
YH Han, BK Cho - … IEEE-RAS 22nd International Conference on …, 2023 - ieeexplore.ieee.org
Most adult-sized bipedal and humanoid robots primarily use high-reduction gears to achieve
high torque output of their joints. However, these high-reduction gears have problems such …
high torque output of their joints. However, these high-reduction gears have problems such …
Online delayed reference generation for a humanoid imitating human walking motion
In this article, we propose a delayed reference generation method for a humanoid to stably
imitate human walking. An admissible condition for a robust imitation is first defined from the …
imitate human walking. An admissible condition for a robust imitation is first defined from the …
Whole-Body Control of Humanoid Robot in 3D Multi-Contact under Contact Wrench Constraints Including Joint Load Reduction with Self-Collision and Internal …
In this paper, we propose an approach for online whole-body control of position-controlled
humanoid robot with 3D multi-contact to cope with contact wrench constraints and joint …
humanoid robot with 3D multi-contact to cope with contact wrench constraints and joint …