Trajectory Planning of Flexible Walking for Biped Robots Using Linear Inverted Pendulum Model and Linear Pendulum Model

Linear inverted pendulum model (LIPM) is an effective and widely used simplified model for biped robots. However, LIPM includes only the single support phase (SSP) and ignores the double support phase (DSP). In this situation, the acceleration of the center of mass (CoM) is discontinuous at the mome...

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Bibliografische Detailangaben

Hauptverfasser:	Long Li, Zhongqu Xie, Xiang Luo, Juanjuan Li
Format:	Artigo
Sprache:	Inglês
Veröffentlicht:	MDPI AG 2021-02-01
Schriftenreihe:	Sensors
Schlagworte:	linear inverted pendulum model linear pendulum model single support phase double support phase biped robots trajectory planning
Online-Zugang:	https://www.mdpi.com/1424-8220/21/4/1082
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