Hybrid Position/Force Control for Biped Robot Stabilization with Integrated Center of Mass Dynamics

In this video we show the performance of a new force control approach for our humanoid LOLA. By using an explicit contact model and integrated CoM dynamics, we are able to walk from an unexpected platform of 5.5 cm height.

Check out our open source repositories!
https://github.com/am-lola

Check out our paper!
http://mediatum.ub.tum.de/node?id=1394924

Видео Hybrid Position/Force Control for Biped Robot Stabilization with Integrated Center of Mass Dynamics канала TUM Chair of Applied Mechanics