Resolved momentum control: humanoid motion planning based on the linear and angular momentum

By Shuuji Kajita, Fumio Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, Hirohisa Hirukawa. IEEE/RJS International Conference on Intelligent RObots and Systems, 2003

486 citations recorded by the source corpus.

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Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications (2005, background): “Kajita et al. (2003, 2004) implemented a zero-spin control on the humanoid robot HRP-2 and showed its usefulness in kicking, hopping and running.”
Real time motion generation and control for biped robot -1st report: Walking gait pattern generation- (2009, methodology): “Considering these, we use a three mass model which consists of an inverted pendulum and two foot masses as shown in Fig.”
Whole-body motion planning with centroidal dynamics and full kinematics (2014, unknown): “[11] [18].”
Capture Point: A Step toward Humanoid Push Recovery (2006, methodology): “Other related work includes the “resolved momentum control” scheme [5], in which a number of humanoid tasks can be controlled through the specification of linear and angular momenta and Hofmann’s work [2] in which push recovery from significant disturbances is achieved using numerical optimization t”
Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces (2007, background): “Second, time delays caused by the recalculation of the joint trajectories are unavoid- able.”
Centroidal dynamics of a humanoid robot (2013, methodology): “To determine an average spatial velocity of the CoM, vG , a common vector of link velocities, vc, will be considered so that all of the links will move as one body; that is, vc = XG vG .”