Biped Walking Based on Stiffness Optimization and Hierarchical Quadratic Programming

The spring-loaded inverted pendulum model is similar to human walking in terms of the center of mass (CoM) trajectory and the ground reaction force. It is thus widely used in humanoid robot motion planning. A method that uses a velocity feedback controller to adjust the landing point of a robot leg...

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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 2021
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7957877/
https://www.ncbi.nlm.nih.gov/pubmed/33801179
http://dx.doi.org/10.3390/s21051696

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7957877/
https://www.ncbi.nlm.nih.gov/pubmed/33801179
http://dx.doi.org/10.3390/s21051696

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