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Document type:
Konferenzbeitrag 
Author(s):
Sang-Ho Hyon, Gordon Cheng 
Title:
Gravity compensation and full-body balancing for humanoid robots 
Pages contribution:
214-221 
Abstract:
This paper proposes gravity compensation and contact force control for multi-DOF humanoid robots and demonstrates various balancing experiments. Gravity compensation is derived in the context of controlling contact force. It makes the robot passive with respect to the external force, hence plays a very important role for physical interaction. A desired applied force from the robot to the environment, such as anti-gravitational force, is optimally distributed to the contact forces at arbitrary co...    »
 
Editor:
IEEE 
Book / Congress title:
2006 6th IEEE-RAS International Conference on Humanoid Robots 
Date of congress:
December 4-6, 2006 
Publisher:
IEEE 
Date of publication:
04.12.2006 
Year:
2006