Trajectory Planning of Flexible Walking for Biped Robots Using Linear Inverted Pendulum Model and Linear Pendulum Model

Linear inverted pendulum model (LIPM) is an effective and widely used simplified model for biped robots. However, LIPM includes only the single support phase (SSP) and ignores the double support phase (DSP). In this situation, the acceleration of the center of mass (CoM) is discontinuous at the mome...

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Detalles Bibliográficos
Autores principales: Li, Long, Xie, Zhongqu, Luo, Xiang, Li, Juanjuan
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7916107/
https://www.ncbi.nlm.nih.gov/pubmed/33557376
http://dx.doi.org/10.3390/s21041082

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7916107/
https://www.ncbi.nlm.nih.gov/pubmed/33557376
http://dx.doi.org/10.3390/s21041082

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