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Convex Optimization Algorithms for Active Balancing of Humanoid Robots
Juyong Park,Jaeyoung Haan,Park, F.C. IEEE 2007 IEEE TRANSACTIONS ON ROBOTICS Vol.23 No.4
<P>We show that a large class of active balancing problems for legged robots can be framed as a second-order cone programming (SOCP) problem, a convex optimization problem for which efficient and numerically robust algorithms exist. We describe this general SOCP balancing framework, show that several existing optimization-based balancing strategies reduce to special cases of this more general formulation, and investigate the computational performance of our SOCP algorithms through simulation studies involving a humanoid model.</P>