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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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| Publicado no: | Sensors (Basel) |
|---|---|
| Main Authors: | , , , |
| Formato: | Artigo |
| Idioma: | Inglês |
| Publicado em: |
MDPI
2021
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| Assuntos: | |
| Acesso em linha: | https://ncbi.nlm.nih.gov/pmc/articles/PMC7916107/ https://ncbi.nlm.nih.gov/pubmed/33557376 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.3390/s21041082 |
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