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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...
| Autores principales: | , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2021
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| Materias: | |
| 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 |