Angular momentum

Capture Point: A Step toward Humanoid Push Recovery

Jerry Pratt, John Carff, S. Drakunov, Ambarish Goswami

Citations: 1098 • 2006

Resolved momentum control: humanoid motion planning based on the linear and angular momentum

Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Kazuhito Yokoi, Hirohisa Hirukawa

Citations: 463 • 2004

Centroidal dynamics of a humanoid robot

David E. Orin, Ambarish Goswami, Sung‐Hee Lee

Citations: 451 • 2013

M-blocks: Momentum-driven, magnetic modular robots

John W. Romanishin, Kyle Gilpin, Daniela Rus

Citations: 248 • 2013

Rate of change of angular momentum and balance maintenance of biped robots

Ambarish Goswami, Vinutha Kallem

Citations: 233 • 2004

A momentum-based balance controller for humanoid robots on non-level and non-stationary ground

Sung‐Hee Lee, Ambarish Goswami

Citations: 161 • 2012

Centroidal Momentum Matrix of a humanoid robot: Structure and properties

David E. Orin, Ambarish Goswami

Citations: 144 • 2008

Reaction Mass Pendulum (RMP): An explicit model for centroidal angular momentum of humanoid robots

Sung‐Hee Lee, Ambarish Goswami

Citations: 124 • 2007

Planning robust walking motion on uneven terrain via convex optimization

Hongkai Dai, Russ Tedrake

Citations: 123 • 2016

Realization of natural dynamic walking using the angular momentum information

Akihito SANO, J. Furusho

Citations: 111 • 2002

Zero-propellant maneuver guidance

Nazareth Bedrossian, Sagar Bhatt, Wei Kang, I. Michael Ross

Citations: 108 • 2009

On the Capture of Tumbling Satellite by a Space Robot

Kazuya Yoshida, Dimitar Dimitrov, Hiroki Nakanishi

Citations: 105 • 2006

A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait

Taku Komura, Howard Leung, Shunsuke Kudoh, James Kuffner

Citations: 96 • 2006

A hop towards running humanoid biped

Shuuji Kajita, T. Nagasaki, Kenji Kaneko, Kazuhito Yokoi, K. Tanie

Citations: 94 • 2004

Balancing a humanoid robot using backdrive concerned torque control and direct angular momentum feedback

Shuuji Kajita, Kazuhito Yokoi, Muneharu Saigo, K. Tanie

Citations: 93 • 2002

Ground reaction force control at each foot: A momentum-based humanoid balance controller for non-level and non-stationary ground

Sung‐Hee Lee, Ambarish Goswami

Citations: 91 • 2010

Trajectory generation for multi-contact momentum control

Alexander Herzog, Nicholas Rotella, Stefan Schaal, Ludovic Righetti

Citations: 88 • 2015

Angular momentum of walking at different speeds

Bradford C. Bennett, Shawn Russell, Pradip N. Sheth, Mark F. Abel

Citations: 87 • 2009

Balance control using center of mass height variation: Limitations imposed by unilateral contact

Twan Koolen, Michael Posa, Russ Tedrake

Citations: 84 • 2016

Angular momentum synergies during walking

Thomas Robert, Bradford C. Bennett, Shawn Russell, Christopher A. Zirker, Mark F. Abel

Citations: 80 • 2009