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Document type:
Konferenzbeitrag 
Author(s):
Sang-Ho Hyon, Gordon Cheng 
Title:
Disturbance rejection for biped humanoids 
Pages contribution:
2668-2675 
Abstract:
This paper proposes a simple passivity-based disturbance rejection scheme for force-controllable biped humanoids. The disturbance rejection by force control is useful not only for self-balance, but also for stable and safety physical interaction between human and humanoid robots. The core technique is passivity-based contact force control with gravity-compensation. This makes it easy to control the contact forces in a satisfactory dynamic range without canceling all non-linear terms. The disturb...    »
 
Editor:
IEEE 
Book / Congress title:
2007 IEEE International Conference on Robotics and Automation 
Date of congress:
10.4.-14.4.2007 
Date of publication:
10.04.2007 
Year:
2007