Trajectory Planning of Flexible Walking for Biped Robots Using Linear Inverted Pendulum Model and Li...
Trajectory Planning of Flexible Walking for Biped Robots Using Linear Inverted Pendulum Model and Linear Pendulum Model
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Author / Creator
Li, Long , Xie, Zhongqu , Luo, Xiang and Li, Juanjuan
Publisher
Switzerland: MDPI
Journal title
Language
English
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Publication information
Publisher
Switzerland: MDPI
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Scope and Contents
Contents
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 moment of leg exchange, leading to a negative impact o...
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Full title
Trajectory Planning of Flexible Walking for Biped Robots Using Linear Inverted Pendulum Model and Linear Pendulum Model
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Record Identifier
TN_cdi_doaj_primary_oai_doaj_org_article_6d281a18deab40ef9df1ea37f972b36f
Permalink
https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_doaj_primary_oai_doaj_org_article_6d281a18deab40ef9df1ea37f972b36f
Other Identifiers
ISSN
1424-8220
E-ISSN
1424-8220
DOI
10.3390/s21041082
