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