Decoupling of Inertia Effect in Angular Momentum of a Humanoid and its Application to Resolved Viscoelasticity Control
Zewen He,Ko Yamamoto,Zewen He,Ko Yamamoto
As a basic part of the centroidal dynamics, an-gular momentum plays a critical role in humanoid motion control. Therefore, how to explicitly express and control an-gular momentum through whole-body motion is an important topic for researchers. This study discusses the selection of the generalized velocity corresponding to whole-body angular momentum. Based on the discussion, we present a method th...
