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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots

By: Bernd Henze (Author)

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Ksh 23,750.00

Format: Paperback or Softback

ISBN-13: 9783030872144

Publisher: Springer Nature Switzerland AG

Publication Date: Nov 5th, 2022

Dimension: 23.50 x 15.50 x 33.80 cms

Category: Robotics

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This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot.

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