A grid gradient approximation method of energy-efficient gait planning for biped robots
In this article, an energy-efficient gait planning algorithm that utilizes both 3D body motion and an allowable zero moment point region (AZR) is presented for biped robots based on a five-mass inverted pendulum model. The product of the load torque and angular velocity of all joint motors is used a...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2021-04-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298814211004327 |