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Capture Point-Based Controller Using Real-Time Zero Moment Point Manipulation for Stable Bipedal Walking in Human Environment
For collaboration of humans and bipedal robots in human environments, this paper proposes a stability control method for dynamically modifiable bipedal walking using a capture point (CP) tracking controller. A reasonable reference CP trajectory for the CP tracking control is generated using the real...
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| Udgivet i: | Sensors (Basel) |
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| Hovedforfatter: | |
| Format: | Artigo |
| Sprog: | Inglês |
| Udgivet: |
MDPI
2019
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| Fag: | |
| Online adgang: | https://ncbi.nlm.nih.gov/pmc/articles/PMC6695601/ https://ncbi.nlm.nih.gov/pubmed/31382573 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.3390/s19153407 |
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