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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...
Autores principales: | He, Zhicheng, Piao, Songhao, Leng, Xiaokun, Wu, Yucong |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2023
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Materias: | |
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 |
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