Effects of hand contact on the stability of a planar humanoid with a momentum based controller.

Morteza Azad Jan Babic Michael N. Mistry

Published in: Humanoids (2014)

Keyphrases

lyapunov function
real time
humanoid robot
control system
robust stability
walking speed
disturbance rejection
closed loop
control method
learning rate
motion planning
stability analysis
control algorithm
contact force
parallel manipulator
control strategy
sufficient conditions