Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped Walking

Biped robots are similar to human beings and have broad application prospects in the fields of family service, disaster rescue and military affairs. However, simplified models and fixed center of mass (COM) used in previous research ignore the large-scale stability control ability implied by whole-b...

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Detalles Bibliográficos
Autores principales: Shi, Xuanyang, Gao, Junyao, Lu, Yizhou, Tian, Dingkui, Liu, Yi
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7288453/
https://www.ncbi.nlm.nih.gov/pubmed/32456320
http://dx.doi.org/10.3390/s20102971

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7288453/
https://www.ncbi.nlm.nih.gov/pubmed/32456320
http://dx.doi.org/10.3390/s20102971

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