This article presents a Whole-Body Postural Control (WBPC) approach for a waiter humanoid robot. This approach is based on the concept of a multi-ZMP evaluation system to control body and transported object stability. Both controllers were developed independently, avoiding cross-linked perturbations. These controllers that deal with this complexity were proposed in previous research. The first one was an improvement for balance control of the body (locomotion) and, the second one was a method to apply classic body balance concepts for transporting objects on a tray (manipulation).
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