Title:Bipedal Balancing Control Based on the Centroidal Momentum Pivot and the Best COM-CMP RegulatorAuthor(s):Johannes Mayr, Hubert Gattringer, Hartmut BremerAbstract:For stable walking of bipedal robots it is necessary to stabilize the unactuated degrees of freedom of the robot. Typically this is done by reducing the non-linear multi-body dynamics to a simple approximation and then controlling the linear momentum of the system. In this paper a feedback controller is proposed that also controls the angular momentum in a feedback loop while considering the full multi-body dynamics to extend the set of balanced states.Booktitle:Proceedings of 39th Annual Conference of the IEEE Industrial Electronics Society (IECON 2013)Page Reference:page 4059-4064, 6 page(s)Publishing:11/2013