Exploiting visual servoing and centroidal momentum for whole-body motion control of humanoid robots in absence of contacts and gravity
Enrico Mingo Hoffman Antonio Paolillo Enrico Mingo Hoffman Antonio Paolillo
The big potential of humanoid robots is not restricted to the ground, but these versatile machines can be successfully employed in unconventional scenarios, e.g. space, where contacts are not always present. In these situations, the robot’s limbs can be used to assist or even generate the angular motion of the floating base, as a consequence of the centroidal momentum conservation. In this paper, ...