Rolling Optimization Method for Humanoid Robots
In this paper, a method of optimizing the rolling amplitude needed for a stable and smooth walking movement of a humanoid robot is considered. The optimization algorithm was based on minimizing a cost function defined by the rolling overshoot. The amplitude of the rolling during locomotion was calcu...
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| Format: | Article |
| Language: | English |
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Sultan Qaboos University
2015-12-01
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| Series: | Sultan Qaboos University Journal for Science |
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| Online Access: | https://journals.squ.edu.om/index.php/squjs/article/view/447 |