Centroidal dynamics of a humanoid robot
By David E. Orin, Ambarish Goswami, Sung-Hee Lee. Auton. Robots, 2013
502 citations recorded by the source corpus.
Subfields: Biomedical Engineering, Control and Systems Engineering
View Paper: https://www.semanticscholar.org/paper/c854a692d56b5c1f3b3d0eb61ed4ac47b30c47cc
How researchers see this paper
The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.
In Biomedical Engineering
- Marco Hutter
- Jonas Buchli
- C. D. Bellicoso
- Alexander W. Winkler
- Andres K. Valenzuela
- Hongkai Dai
- Russ Tedrake
- Darwin G. Caldwell
In Control and Systems Engineering
- Marco Hutter
- Jonas Buchli
- C. D. Bellicoso
- Alexander W. Winkler
- Andres K. Valenzuela
- Hongkai Dai
- Russ Tedrake
- Darwin G. Caldwell
Citations in the corpus
- Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality (2018, background): “CoM offset and an external wrench [11]. Therefore our starting assumption is that there are no modeling errors (i.e. a preliminary trunk CoM identification has been carried out previously using [48]). [50]: 8 >> >> >> >> < >> >> >> >> : pˆ˙ G (t) = m”
- Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization (2018, methodology): “Another common dynamic model used in TO is the Centroidal dynamics [22], which projects the effects of all link motions onto the 6-dimensional base.”
- Whole-body motion planning with centroidal dynamics and full kinematics (2014, methodology): “The centroidal angular momentum can be computed using the method described in [19]”