Balance control strategy for legged robots with compliant contacts

Morteza Azad, Michael N. Mistry

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper proposes a momentum-based balancing controller for robots which have non-rigid contacts with their environments. This controller regulates both linear momentum and angular momentum about the center of mass of the robot by controlling the contact forces. Compliant contact models are used to determine the contact forces at the contact points. Simulation results show the performance of the controller on a four-link planar robot standing on various compliant surfaces while unknown external forces in different directions are acting on the center of mass of the robot.
Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Electronic)978-1-4799-6923-4
ISBN (Print)978-1-4799-6924-1
Publication statusPublished - 2 Jul 2015


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