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Authors: Youngjin Choi 1 and Doik Kim 2

Affiliations: 1 School of electrical engineering and computer science, Hanyang University, Korea, Republic of ; 2 Intelligent Robotics Research Center, Korea Institute of Science and Technology (KIST), Korea, Republic of

Keyword(s): WBC (whole body coordination), Humanoid robot, Posture control, CoM (center of mass) Jacobian.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

Abstract: This paper proposes the kinematic resolution method of CoM(center of mass) Jacobian with embedded motions and the design method of posture/walking controller for humanoid robots. The kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of WBC(whole body coordination) to humanoid robot. Also, we prove that the proposed posture/walking controller brings the ISS(disturbance input-to-state stability) for the simplified bipedal walking robot model.

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Paper citation in several formats:
Choi, Y. and Kim, D. (2007). ON THE BALANCING CONTROL OF HUMANOID ROBOT. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 978-972-8865-83-2; ISSN 2184-2809, SciTePress, pages 248-252. DOI: 10.5220/0001623302480252

@conference{icinco07,
author={Youngjin Choi. and Doik Kim.},
title={ON THE BALANCING CONTROL OF HUMANOID ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2007},
pages={248-252},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001623302480252},
isbn={978-972-8865-83-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - ON THE BALANCING CONTROL OF HUMANOID ROBOT
SN - 978-972-8865-83-2
IS - 2184-2809
AU - Choi, Y.
AU - Kim, D.
PY - 2007
SP - 248
EP - 252
DO - 10.5220/0001623302480252
PB - SciTePress

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