Bipedal robot locomotion modelling with virtual height inverted pendulum and preview control approaches in Simulink environment
Control algorithms development for humanoid locomotion is difficult due to humanoid’s high number of Degrees of Freedom and system nonlinearity. Moreover, a humanoid may lose balance as its walking speed changes. We present AR-601M humanoid locomotion modelling with virtual height inverted pendulum...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Atlantis Press
2016-11-01
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| Series: | Journal of Robotics, Networking and Artificial Life (JRNAL) |
| Subjects: | |
| Online Access: | https://www.atlantis-press.com/article/25866296.pdf |