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Simulation of Upward Jump Control for One-Legged Robot Based on QP Optimization
An optimization framework for upward jumping motion based on quadratic programming (QP) is proposed in this paper, which can simultaneously consider constraints such as the zero moment point (ZMP), limitation of angular accelerations, and anti-slippage. Our approach comprises two parts: the trajecto...
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| 出版年: | Sensors (Basel) |
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| 主要な著者: | , , , |
| フォーマット: | Artigo |
| 言語: | Inglês |
| 出版事項: |
MDPI
2021
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| 主題: | |
| オンライン･アクセス: | https://ncbi.nlm.nih.gov/pmc/articles/PMC7962837/ https://ncbi.nlm.nih.gov/pubmed/33800357 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.3390/s21051893 |
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