Impedance Control of Humanoid Walking on Uneven Terrain With Centroidal Momentum Dynamics Using Quadratic Programming
Joonhee Jo,Yonghwan Oh,Joonhee Jo,Yonghwan Oh
In this paper, we propose the stabilization strategy for a soft landing in a biped walking using impedance control and the optimization-based whole-body control framework. Even though proper contact forces and desired trajectories of the robot are given, the robot can be unstable easily if unexpected forces are applied to the robot or impulsive contact force is produced in the landing state while ...
