Simulation of Upward Jump Control for One-Legged Robot Based on QP Optimization

An optimization framework for upward jumping motion based on quadratic programming (QP) is proposed in this paper, which can simultaneously consider constraints such as the zero moment point (ZMP), limitation of angular accelerations, and anti-slippage. Our approach comprises two parts: the trajecto...

Descripción completa

Detalles Bibliográficos
Autores principales: Tian, Dingkui, Gao, Junyao, Liu, Chuzhao, Shi, Xuanyang
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7962837/
https://www.ncbi.nlm.nih.gov/pubmed/33800357
http://dx.doi.org/10.3390/s21051893

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7962837/
https://www.ncbi.nlm.nih.gov/pubmed/33800357
http://dx.doi.org/10.3390/s21051893

Ejemplares similares