To maintain the balance of a humanoid robot with one 7-DOF arm operating at a high speed,this paper proposes a resolved-momentum-based real-time control strategy.Using velocity vector of the end-effecter to express the motion of the robotic arm,we obtain the total momentum formula for the robot.The principles of merit-based controlled momentum selection are discussed,and a real-time optimization method which calculates the joint velocities of the auxiliary arm on the basis of the resolved momentum control i...
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