Study on Walking Strategy of Biped Robot Based on Dynamics of Divergent Component of Motion
In this paper, based on the linear inverted pendulum (LIP) model, the multi-walking of biped robot is analogous to the multi-swing of a three-dimensional inverted pendulum. In terms of the concept of 'divergent component of motion (DCM)', the dynamic equations expressed by using Center of...
| Format: | Article |
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| Language: | zho |
| Published: |
The Northwestern Polytechnical University
2019-12-01
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| Series: | Xibei Gongye Daxue Xuebao |
| Subjects: | |
| Online Access: | https://www.jnwpu.org/articles/jnwpu/full_html/2019/06/jnwpu2019376p1285/jnwpu2019376p1285.html |