Fast Whole-Body Motion Control of Humanoid Robots with Inertia Constraints
Grzegorz Ficht,Sven Behnke,Grzegorz Ficht,Sven Behnke
We introduce a new, analytical method for generating whole-body motions for humanoid robots, which approximate the desired Composite Rigid Body (CRB) inertia. Our approach uses a reduced five mass model, where four of the masses are attributed to the limbs and one is used for the trunk. This compact formulation allows for finding an analytical solution that combines the kinematics with mass distri...
