Dynamic Bipedal Walking Using Real-Time Optimization of Center of Mass Motion and Capture Point-Base...
Dynamic Bipedal Walking Using Real-Time Optimization of Center of Mass Motion and Capture Point-Based Stability Controller
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Publisher
Dordrecht: Springer Netherlands
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Language
English
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Publisher
Dordrecht: Springer Netherlands
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Contents
This paper proposes a walking pattern generator and a stabilization method for the dynamic walking of a bipedal robot. The capture point (CP) and center of mass (CoM) trajectories were optimized in real-time by using particle swarm optimization, and a desired zero-moment point (ZMP) can be freely generated within a certain area of the support foot...
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Full title
Dynamic Bipedal Walking Using Real-Time Optimization of Center of Mass Motion and Capture Point-Based Stability Controller
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Author / Creator
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TN_cdi_proquest_journals_2593954912
Permalink
https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_proquest_journals_2593954912
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ISSN
0921-0296
E-ISSN
1573-0409
DOI
10.1007/s10846-021-01468-1
