Balance and Walking Control for Biped Robot Based on Divergent Component of Motion and Contact Force...
Balance and Walking Control for Biped Robot Based on Divergent Component of Motion and Contact Force Optimization
About this item
Full title
Author / Creator
Heng, Shuai , Zang, Xizhe , Song, Chao , Chen, Boyang , Zhang, Yue , Zhu, Yanhe and Zhao, Jie
Publisher
Basel: MDPI AG
Journal title
Language
English
Formats
Publication information
Publisher
Basel: MDPI AG
Subjects
More information
Scope and Contents
Contents
This paper presents a complete planner and controller scheme to achieve balance and walking for a biped robot, which does not need to distinguish the robot’s dynamic model parameters. The high-level planner utilizes model predictive control to optimize both the foothold location and step duration based on the Divergent Component of Motion (DCM) mod...
Alternative Titles
Full title
Balance and Walking Control for Biped Robot Based on Divergent Component of Motion and Contact Force Optimization
Authors, Artists and Contributors
Author / Creator
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Primary Identifiers
Record Identifier
TN_cdi_doaj_primary_oai_doaj_org_article_51a6e3255eb24ec2a6c8c7d948d5fe15
Permalink
https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_doaj_primary_oai_doaj_org_article_51a6e3255eb24ec2a6c8c7d948d5fe15
Other Identifiers
ISSN
2227-7390
E-ISSN
2227-7390
DOI
10.3390/math12142188
