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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...

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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

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