Bai, Keqiang; Luo, Yunzhi; Jiang, Guanwu; Jiang, Guoli; … - In: Industrial Robot: the international journal of robotics … 47 (2020) 4, pp. 473-487
Purpose This paper aims to propose a pulsing type joint servo driver-based obstacle surmounting method for a humanoid robot according to the whole-body dynamics model, which fully takes into account the relationship between the whole-body stability margin and instantaneous torque....