A Bipedal Locomotion Planning Based on Linear Inverted Pendulum Model with Adopting COM Model Uncertainty

A Bipedal Locomotion Planning Based on Linear Inverted Pendulum Model with Adopting COM Model Uncertainty

碩士 === 國立臺灣科技大學 === 電機工程系 === 100 === Linear inverted pendulum model (LPIM) is usually used to generate real-time bipedal locomotion of a humanoid robot because of considering lower computational loads. LIPM uses the operational height of center of mass (CoM) of a biped robot as a primary parameter...

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Bibliographic Details
Main Authors: Jui-Chou Chung, 鍾睿洲
Other Authors: Chung-Hsien Kuo
Format: Others
Language:zh-TW
Published: 2012
Online Access:http://ndltd.ncl.edu.tw/handle/27074097669562996960

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