2 papers
cs.RO2019
Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model
Stéphane Caron
The variable-height inverted pendulum (VHIP) model enables a new balancing strategy by height variations of the center of mass, in addition to the well-known ankle strategy. We pro…
cs.RO2017
Balance control using both ZMP and COM height variations: A convex boundedness approach
Stéphane Caron, Bastien Mallein
Developments for 3D control of the center of mass (CoM) of biped robots are currently located in two local minima: on the one hand, methods that allow CoM height variations but onl…