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cycle for each step.
model to continuously servo the torso to a desired angle from the vertical in the sagittal plane. The |
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torso servoing control is applied to the biped's waist pitch DOF. example is calculated as |
The applied torque for a planar |
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t |
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where |
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t |
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is the desired torso angle from vertical in the world frame (constant) |
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f
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and |
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The parameters t |
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Figure 3.25 - |
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With continuously-applied torso servoing, the torso motion becomes considerably smoother. |
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However, it also presents an additional problem when used with balance control. |
The application |
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of a torso servo precludes the use of torso-based RVs since these will no longer vary with hip |
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