Biped Walking Based on Stiffness Optimization and Hierarchical Quadratic Programming

Biped Walking Based on Stiffness Optimization and Hierarchical Quadratic Programming

The spring-loaded inverted pendulum model is similar to human walking in terms of the center of mass (CoM) trajectory and the ground reaction force. It is thus widely used in humanoid robot motion planning. A method that uses a velocity feedback controller to adjust the landing point of a robot leg...

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Bibliographic Details
Main Authors: Xuanyang Shi, Junyao Gao, Yizhou Lu, Dingkui Tian, Yi Liu
Format: Article
Language:English
Published: MDPI AG 2021-03-01
Series:Sensors
Subjects:
spring-loaded inverted pendulum (SLIP)
stiffness optimization
uneven ground walking
hierarchical quadratic optimization
Online Access:https://www.mdpi.com/1424-8220/21/5/1696

Internet

https://www.mdpi.com/1424-8220/21/5/1696

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