Centroidal dynamics of a humanoid robot

Authors

Keywords

Centroidal momentum matrix, Angular momentum, Robot dynamics algorithms, Average spatial velocity, Humanoid balance controller, Momentum based balance control

Journal

AUTONOMOUS ROBOTS

Volume 35, Issue 2-3, Pages 161-176

Publisher

Springer Nature

Online

2013-06-18

DOI

10.1007/s10514-013-9341-4

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