Humanoid Balance Control using Centroidal Angular Momentum based on Hierarchical Quadratic Programming
Myeong-Ju Kim,Daegyu Lim,Gyeongjae Park,Jaeheung Park,Myeong-Ju Kim,Daegyu Lim,Gyeongjae Park,Jaeheung Park
Maintaining balance to external pushes is one of the most important features for a humanoid to walk in a real environment. In particular, methods for counteracting to pushes using the centroidal angular momentum (CAM) control have been actively developed. In this paper, a CAM control scheme based on hierarchical quadratic programming (HQP) is proposed. The scheme of the CAM control consists of CAM...
