Stable walking of biped robot based on center of mass trajectory control
The effect of center of mass (CoM) trajectory on stable walking of biped robot was studied in this study. The method of predictive control by controlling CoM trajectory to generate stable walking patterns was discussed, which simulated the principle of adjusting center of gravity in advance during h...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2020-07-01
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| Series: | Open Physics |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/phys-2020-0148 |