Stable Walking of a Biped Robot Controlled by Central Pattern Generator Using Multivariate Linear Mapping

In order to improve the walking stability of a biped robot in multiple scenarios and reduce the complexity of the Central Pattern Generator (CPG) model, a new CPG walking controller based on multivariate linear mapping was proposed. At first, in order to establish a dynamics model, the lower limb me...

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Bibliographic Details

Published in:	Biomimetics
Main Authors:	Yao Wu, Biao Tang, Jiawei Tang, Shuo Qiao, Xiaobing Pang, Lei Guo
Format:	Article
Language:	English
Published:	MDPI AG 2024-10-01
Subjects:	biped robot CPG the limit cycle multivariate linear mapping
Online Access:	https://www.mdpi.com/2313-7673/9/10/626