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