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Biped Walking Based on Stiffness Optimization and Hierarchical Quadratic Programming
The spring-loaded inverted pendulum model is similar to human walking in terms of the center of mass (CoM) trajectory and the ground reaction force. It is thus widely used in humanoid robot motion planning. A method that uses a velocity feedback controller to adjust the landing point of a robot leg...
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| Veröffentlicht in: | Sensors (Basel) |
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| Hauptverfasser: | , , , , |
| Format: | Artigo |
| Sprache: | Inglês |
| Veröffentlicht: |
MDPI
2021
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| Schlagworte: | |
| Online Zugang: | https://ncbi.nlm.nih.gov/pmc/articles/PMC7957877/ https://ncbi.nlm.nih.gov/pubmed/33801179 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.3390/s21051696 |
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