Balanced Standing on One Foot of Biped Robot Based on Three-Particle Model Predictive Control

Balancing is a fundamental task in the motion control of bipedal robots. Compared to two-foot balancing, one-foot balancing introduces new challenges, such as a smaller supporting polygon and control difficulty coming from the kinematic coupling between the center of mass (CoM) and the swinging leg....

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出版年:	Biomimetics
主要な著者:	Yong Yang, Jiyuan Shi, Songrui Huang, Yuhong Ge, Wenhan Cai, Qingkai Li, Xueying Chen, Xiu Li, Mingguo Zhao
フォーマット:	論文
言語:	英語
出版事項:	MDPI AG 2022-12-01
主題:	model predictive control whole-body control biped robot balance
オンライン･アクセス:	https://www.mdpi.com/2313-7673/7/4/244