Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots

This paper presents a novel omnidirectional walking pattern generator for bipedal locomotion combining two structurally different approaches based on the virtual constraints and the preview control theories to generate a flexible gait that can be modified on-line. The proposed strategy synchronizes...

Descripción completa

Detalles Bibliográficos
Autores principales: Ruscelli, Francesco, Laurenzi, Arturo, Mingo Hoffman, Enrico, Tsagarakis, Nikos G.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Robotics and AI
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8284058/
https://www.ncbi.nlm.nih.gov/pubmed/34277715
http://dx.doi.org/10.3389/frobt.2021.660004

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8284058/
https://www.ncbi.nlm.nih.gov/pubmed/34277715
http://dx.doi.org/10.3389/frobt.2021.660004

Ejemplares similares