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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...
| Autores principales: | , , , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Hindawi
2022
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| Materias: | |
| 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 |