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...

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Үндсэн зохиолчид:	Chih-Cheng Liu, Yi-Chung Lin, Chia-Sheng Li
Формат:	Artigo
Хэл сонгох:	Inglês
Хэвлэсэн:	IEEE 2025-01-01
Цуврал:	IEEE Access
Нөхцлүүд:	Bipedal walking gait generator humanoid robot linear inverted pendulum model predictive control ZMP constraint
Онлайн хандалт:	https://ieeexplore.ieee.org/document/10884771/
Шошгууд:	Шошго нэмэх Шошго байхгүй, Энэхүү баримтыг шошголох эхний хүн болох!