Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots

This paper presents a novel omnidirectional walking pattern generator for bipedal locomotion combining two structurally different approaches based on the virtual constraints and the preview control theories to generate a flexible gait that can be modified on-line. The proposed strategy synchronizes...

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Bibliografiske detaljer
Udgivet i:Front Robot AI
Main Authors: Ruscelli, Francesco, Laurenzi, Arturo, Mingo Hoffman, Enrico, Tsagarakis, Nikos G.
Format: Artigo
Sprog:Inglês
Udgivet: Frontiers Media S.A. 2021
Fag:
Robotics and AI
Online adgang:https://ncbi.nlm.nih.gov/pmc/articles/PMC8284058/
https://ncbi.nlm.nih.gov/pubmed/34277715
https://ncbi.nlm.nih.govhttp://dx.doi.org/10.3389/frobt.2021.660004
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