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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...
Autores principales: | Li, Junmin, Wang, Jinge, Yang, Simon X., Zhou, Kedong, Tang, Huijuan |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Hindawi Publishing Corporation
2016
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Materias: | |
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 |
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