Real-Time Footprint Planning and Model Predictive Control Based Method for Stable Biped Walking

In order to walk in a physical environment, the biped will encounter various external disturbances, and walking under persistent conditions is still challenging. This paper tries to improve the push recovery performance based on capture point (CP) and model predictive control. The trajectory of zero...

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Detalles Bibliográficos
Autores principales: Wang, Song, Piao, Songhao, Leng, Xiaokun, He, Zhicheng, Bai, Xuelin, Huazhong, Li
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Hindawi 2022
Materias:
Research Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8993559/
https://www.ncbi.nlm.nih.gov/pubmed/35401727
http://dx.doi.org/10.1155/2022/4781747

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8993559/
https://www.ncbi.nlm.nih.gov/pubmed/35401727
http://dx.doi.org/10.1155/2022/4781747

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