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dc.contributor.authorHerr, Hugh M.
dc.contributor.authorHofmann, Andreas
dc.contributor.authorPopovic, Marko
dc.date.accessioned2010-10-15T17:53:31Z
dc.date.available2010-10-15T17:53:31Z
dc.date.issued2009-07
dc.date.submitted2009-05
dc.identifier.isbn978-1-4244-2788-8
dc.identifier.issn1050-4729
dc.identifier.otherINSPEC Accession Number: 10748977
dc.identifier.urihttp://hdl.handle.net/1721.1/59380
dc.description.abstractRecent humanoid control investigations have emphasized the importance of controlling whole-body angular momentum throughout a movement task. For typical movement tasks, such as normal walking, such controllers minimize fluctuations in angular momentum about the center of mass (CM). This minimization is consistent with observed behavior of humans for such tasks. However, there are cases where such minimization is not desirable. In this study, we investigate movement tasks where bipedal balance control requires a relaxation of the goal of minimizing whole-body angular moment. We construct a humanoid model having a human-like mass distribution, and a Moment-Exploiting Control algorithm that modulates whole-body angular momentum to enhance CM control. The model only requires reference trajectories for CM position and torso orientation. Joint reference trajectories are not required. While balancing on one leg, we show that the controller is capable of correcting errors in CM state by sacrificing angular postural goals for the swing leg, trunk and head. This prioritization capability provides robustness to significant disturbances, without the need to plan new reference trajectories. We compare the dynamic behavior of our humanoid model to that of human test participants. While standing on one leg, the model, like the human, is shown to reposition its CM just above the stance foot from an initial body state where CM velocity is zero, and the ground CM projection falls outside the foot envelope.en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/ROBOT.2009.5152573en_US
dc.rightsArticle is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.en_US
dc.sourceIEEEen_US
dc.titleExploiting angular momentum to enhance bipedal center-of-mass controlen_US
dc.typeArticleen_US
dc.identifier.citationHofmann, A., M. Popovic, and H. Herr. “Exploiting angular momentum to enhance bipedal center-of-mass control.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 4423-4429. ©2009 Institute of Electrical and Electronics Engineers.en_US
dc.contributor.departmentHarvard University--MIT Division of Health Sciences and Technologyen_US
dc.contributor.departmentMassachusetts Institute of Technology. Media Laboratoryen_US
dc.contributor.approverHerr, Hugh M.
dc.contributor.mitauthorHerr, Hugh M.
dc.contributor.mitauthorPopovic, Marko
dc.relation.journalIEEE International Conference on Robotics and Automation, 2009. ICRA '09en_US
dc.eprint.versionFinal published versionen_US
dc.type.urihttp://purl.org/eprint/type/JournalArticleen_US
eprint.statushttp://purl.org/eprint/status/PeerRevieweden_US
dspace.orderedauthorsHofmann, A.; Popovic, M.; Herr, H.en
dc.identifier.orcidhttps://orcid.org/0000-0003-3169-1011
mit.licensePUBLISHER_POLICYen_US
mit.metadata.statusComplete


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