19 citations · 50 across the 21 of their papers we have counts for
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cs.RO2021
Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots
Shunpeng Yang, Hua Chen, Zhen Fu +1
This paper studies stabilizer design for position-controlled humanoid robots. Stabilizers are an essential part for position-controlled humanoids, whose primary objective is to adj…
cs.RO2021
Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum
Junwei Liu, Hua Chen, Patrick M. Wensing +1
Balancing is a fundamental need for legged robots due to their unstable floating-base nature. Balance control has been thoroughly studied for simple models such as the linear inver…