arxivcs.RO2026-07-31
Balancing of Humanoid with Object Mass: Trade-off Analyses and Lifting Control
Hyunjong Song, William Z. Peng, Joo H. Kim
The demand for humanoid loco-manipulation tasks with an object has recently increased, and most existing control approaches for stability in such tasks rely on heuristics or machine-learning techniques. This study rigorously analyzes and exploits the dynamic effects of the object…