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• W4288456502 abstract "Resolved viscoelasticity control (RVC) method resolves multiple viscoelasticities in the task-space, including the center of gravity viscoelasticity for balancing, into the joint-space viscoelasticity. We achieved robust and compliant motions using the RVC method. In previous studies, however, the conventional knee-bent posture was used to avoid kinematic singularity, suffering from large knee joint torque. In this study, we propose an extension of the RVC that can consider the kinematic singularity. Stable knee-stretched walking has been described using a humanoid with the RVC. Using simulations and experiments, we demonstrate that this RVC method allows for stable and human-like walking while considering the singularity, reducing the knee joint torque, and improving the energy efficiency." @default.
• W4288456502 created "2022-07-29" @default.
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• W4288456502 date "2022-11-01" @default.
• W4288456502 modified "2023-09-30" @default.
• W4288456502 title "Resolved viscoelasticity control for robust walking of a humanoid with knee-stretched posture considering singularity" @default.
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• W4288456502 doi "https://doi.org/10.1016/j.robot.2022.104218" @default.
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