This chapter reports on several applications in which the control framework from Chaps. 6 and 7 was used to facilitate a whole-body motion of the humanoid robot TORO (see Chap. 5) while balancing. The applications demonstrate that the whole-body controllers can be integrated into the software ecosystem of a humanoid robot, which features a multitude of components besides the balancing controller, such as vision and planning. The variety of applications emphasizes the versatility and the robustness of the developed whole-body control approaches.
Applications
Spr.Tracts in Adv.Robotics
Whole-Body Control for Multi-Contact Balancing of Humanoid Robots ; Chapter : 9 ; 173-189
2021-11-04
17 pages
Article/Chapter (Book)
Electronic Resource
English
Wiley | 2017
|Online Contents | 2014
Online Contents | 2014
Wiley | 2016
|Springer Verlag | 2022
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