Uneven Terrain Walking with Linear and Angular Momentum Allocation

Uneven terrain walking is hard to achieve for most child-size humanoid robots, as they are unable to accurately detect ground conditions. In order to reduce the demand for ground detection accuracy, a walking control framework based on centroidal momentum allocation is studied in this paper, enablin...

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Detalles Bibliográficos
Autores principales: He, Zhicheng, Piao, Songhao, Leng, Xiaokun, Wu, Yucong
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9962814/
https://www.ncbi.nlm.nih.gov/pubmed/36850624
http://dx.doi.org/10.3390/s23042027

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9962814/
https://www.ncbi.nlm.nih.gov/pubmed/36850624
http://dx.doi.org/10.3390/s23042027

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