Balanced Standing on One Foot of Biped Robot Based on Three-Particle Model Predictive Control

Balancing is a fundamental task in the motion control of bipedal robots. Compared to two-foot balancing, one-foot balancing introduces new challenges, such as a smaller supporting polygon and control difficulty coming from the kinematic coupling between the center of mass (CoM) and the swinging leg....

Descripción completa

Detalles Bibliográficos
Autores principales: Yang, Yong, Shi, Jiyuan, Huang, Songrui, Ge, Yuhong, Cai, Wenhan, Li, Qingkai, Chen, Xueying, Li, Xiu, Zhao, Mingguo
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9775477/
https://www.ncbi.nlm.nih.gov/pubmed/36546944
http://dx.doi.org/10.3390/biomimetics7040244

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9775477/
https://www.ncbi.nlm.nih.gov/pubmed/36546944
http://dx.doi.org/10.3390/biomimetics7040244

Ejemplares similares