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Fig. 3 |

Fig. 3

From: Angular Momentum Based Balance Control

Fig. 3

Humanoid robot showing link and centroidal momentum vectors. The inertial frame is located at O and the position vector to the robot CoM, G, is given by rG. The reference frame of link i is located at Oi. The centroidal momentum hG can be obtained from either Eq. 15 or Eq. 13

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