Gait Planning and Stability Control of a Quadruped Robot

In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new C...

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Detalles Bibliográficos
Autores principales: Li, Junmin, Wang, Jinge, Yang, Simon X., Zhou, Kedong, Tang, Huijuan
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Hindawi Publishing Corporation 2016
Materias:
Research Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4842081/
https://www.ncbi.nlm.nih.gov/pubmed/27143959
http://dx.doi.org/10.1155/2016/9853070

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4842081/
https://www.ncbi.nlm.nih.gov/pubmed/27143959
http://dx.doi.org/10.1155/2016/9853070

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