Online Foot Location Planning for Gait Transitioning Using Model Predictive Control

This paper proposes an online uniform foot location planning method (UPMPC) based on model predictive control (MPC) for solving the problem of large posture changes during gait transitioning. This method converts the foot location planning into a discrete-time MPC problem. The core part of the metho...

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Номзүйн дэлгэрэнгүй

Үндсэн зохиолчид:	Xiangming Liu, Hongxu Ma, Lin Lang, Honglei An
Формат:	Artigo
Хэл сонгох:	Inglês
Хэвлэсэн:	MDPI AG 2021-08-01
Цуврал:	Applied Sciences
Нөхцлүүд:	MPC foot location motion planning gait transitioning legged robots
Онлайн хандалт:	https://www.mdpi.com/2076-3417/11/17/7866
Шошгууд:	Шошго нэмэх Шошго байхгүй, Энэхүү баримтыг шошголох эхний хүн болох!