Online Learning of Centroidal Angular Momentum towards Enhancing DCM-based Locomotion
Robert Schuller,George Mesesan,Johannes Englsberger,Jinoh Lee,Christian Ott,Robert Schuller,George Mesesan,Johannes Englsberger,Jinoh Lee,Christian Ott
Gait generation frameworks for humanoid robots typically assume a constant centroidal angular momentum (CAM) throughout the walking cycle, which induces undesirable contact torques in the feet and results in performance degradation. In this work, we present a novel algorithm to learn the CAM online and include the obtained knowledge within the closed-form solutions of the Divergent Component of Mo...
