MPC-Based Walking Stability Control for Bipedal Robots on Uneven Terrain
This paper proposes an algorithm capable of regenerating gait patterns online. The algorithm is designed using the Model Predictive Control (MPC) framework, with the Linear Inverted Pendulum Model as the basis of the predictive model. For bipedal robot walking, it divides ZMP (Zero Moment Point) con...
Αποθηκεύτηκε σε:
| Κύριοι συγγραφείς: | , , |
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| Μορφή: | Artigo |
| Γλώσσα: | Inglês |
| Έκδοση: |
IEEE
2025-01-01
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| Σειρά: | IEEE Access |
| Θέματα: | |
| Διαθέσιμο Online: | https://ieeexplore.ieee.org/document/10884771/ |
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