Robust Walking for Humanoid Robot Based on Divergent Component of Motion

In order to perform various complex tasks in place of humans, humanoid robots should walk robustly in the presence of interference. In the paper, an improved model predictive control (MPC) method based on the divergent components of motion (DCM) is proposed. Firstly, the humanoid robot model is simp...

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Detalles Bibliográficos
Autores principales: Zhang, Zhao, Zhang, Lei, Xin, Shan, Xiao, Ning, Wen, Xiaoyan
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9324268/
https://www.ncbi.nlm.nih.gov/pubmed/35888912
http://dx.doi.org/10.3390/mi13071095

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9324268/
https://www.ncbi.nlm.nih.gov/pubmed/35888912
http://dx.doi.org/10.3390/mi13071095

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