A modular framework to generate robust biped locomotion: from planning to control
Abstract Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This paper proposes a model-based framework to generate stable...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Springer
2021-08-01
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| Series: | SN Applied Sciences |
| Subjects: | |
| Online Access: | https://doi.org/10.1007/s42452-021-04752-9 |