Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach
Matteo Parigi Polverini Enrico Mingo Hoffman Arturo Laurenzi Nikos G. Tsagarakis Matteo Parigi Polverini Enrico Mingo Hoffman Arturo Laurenzi Nikos G. Tsagarakis
The kinematic features of a centaur-type humanoid platform, combined with a powerful actuation, enable the experimentation of a variety of agile and dynamic motions. However, the higher number of degrees-of-freedom and the increased weight of the system, compared to the bipedal and quadrupedal counterparts, pose significant research challenges in terms of computational load and real implementation...