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008			211103s2022 sz | s |||| 0|eng d
020			_a9783030872120
024	7		_a10.1007/978-3-030-87212-0 _2doi
040			_aES-MaUEC _bspa _cES-MaUEC _dES-MaUEC
050		4	_aTJ211.35 _b2022 EB
100	1		_aHenze, Bernd _eautor _9688107
245	1	0	_aWhole-Body Control for Multi-Contact Balancing of Humanoid Robots : _bDesign and Experiments _cby Bernd Henze
250			_a1st edition 2022
264		1	_aCham _bSpringer International Publishing _c2022
300			_a1 recurso en línea (XVI, 199 páginas) _b72 ilustraciones, 67 ilustraciones a color
336			_atexto _btxt _2rdacontent
337			_aelectrónico _bc _2rdamedia
338			_arecurso electrónico _bcr _2rdacarrier
347			_aarchivo de texto _bPDF
490	0		_aSpringer Tracts in Advanced Robotics _x1610-742X _v143
505	0		_aIntroduction -- Notation -- Modeling -- Cartesian Compliance -- Torque-Controlled Humanoid Robot TORO -- Whole-Body Control for Multi-Contact Balancing -- Combining Multi-Contact Balancing with Hierarchical Whole-Body Control -- Balance Control based on Reduced Dynamic Models -- Applications -- Discussion and Conclusion.
520			_aThis book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.
988			_aSpringer_Robotics_2022
650		7	_2embne _9667114 _aRobots _xSistemas de control
776	0	8	_iPrinted edition: _z9783030872113
776	0	8	_iPrinted edition: _z9783030872137
776	0	8	_iPrinted edition: _z9783030872144
856	4	0	_uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://doi.org/10.1007/978-3-030-87212-0 _zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
942			_2lcc _cLE
998			_b03/2023 _dz _eu _zSI