Capture Point-Based Controller Using Real-Time Zero Moment Point Manipulation for Stable Bipedal Walking in Human Environment

For collaboration of humans and bipedal robots in human environments, this paper proposes a stability control method for dynamically modifiable bipedal walking using a capture point (CP) tracking controller. A reasonable reference CP trajectory for the CP tracking control is generated using the real...

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Detalles Bibliográficos
Autor principal: Hong, Young-Dae
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6695601/
https://www.ncbi.nlm.nih.gov/pubmed/31382573
http://dx.doi.org/10.3390/s19153407

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6695601/
https://www.ncbi.nlm.nih.gov/pubmed/31382573
http://dx.doi.org/10.3390/s19153407

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