휴머노이드 로봇의 균형 유지를 위한 모멘텀 제어 기법

We introduce a momentum-based balance controller for humanoid robots. The method is characterized by its applicability to non-level, non-static ground. Specifically, for double support, our method minimizes the ankle torques as well as the sum of squared norms of the ground reaction forces at each support foot. We validate this method by simulating Asimo-like humanoid robots.