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Fast Online Optimization for Terrain-Blind Bipedal Robot Walking With a Decoupled Actuated SLIP Model

We present an online optimization algorithm which enables bipedal robots to blindly walk over various kinds of uneven terrains while resisting pushes. The proposed optimization algorithm performs high-level motion planning of footstep locations and center-of-mass height variations using the decouple...

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Detalles Bibliográficos
Autores principales:	Wang, Ke, Fei, Hengyi, Kormushev, Petar
Formato:	Online Artículo Texto
Lenguaje:	English
Publicado:	Frontiers Media S.A. 2022
Materias:	Robotics and AI
Acceso en línea:	https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8894328/ https://www.ncbi.nlm.nih.gov/pubmed/35252365 http://dx.doi.org/10.3389/frobt.2022.812258

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