Expanding Humanoid's Material-Handling Capabilities using Capture Point Walking
Proceedings of the American Control Conference
Institute of Electrical and Electronics Engineers
New York, NY
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© 2020 AACC. A capture point approach is applied for a humanoid to push carts. When friction compensation was added, such material-handling was more effective. By contrast, with-out such compensation, external disturbances yielded unstable walking. As such, tuning dynamic models of walking coupled with arm compliance yielded better performance. This is important to ensure balance and minimize the disturbance effects.
Expanding Humanoid's Material-Handling Capabilities using Capture Point Walking.
Proceedings of the American Control Conference, 2020-07-01
New York, NY: Institute of Electrical and Electronics Engineers.