Sliding Balance Control of a Point-Foot Biped Robot Based on a Dual-Objective Convergent Equation

The point-foot biped robot is highly adaptable to and can move rapidly on complex, non-structural and non-continuous terrain, as demonstrated in many studies. However, few studies have investigated balance control methods for point-foot sliding on low-friction terrain. This article presents a contro...

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Bibliographic Details

Published in:	Applied Sciences
Main Authors:	Yizhou Lu, Junyao Gao, Xuanyang Shi, Dingkui Tian, Yi Liu
Format:	Article
Language:	English
Published:	MDPI AG 2021-04-01
Subjects:	point-foot biped robot sliding balance dual-objective convergence equation quadratic programming optimization
Online Access:	https://www.mdpi.com/2076-3417/11/9/4016