MPC-Based Walking Stability Control for Bipedal Robots on Uneven Terrain

This paper proposes an algorithm capable of regenerating gait patterns online. The algorithm is designed using the Model Predictive Control (MPC) framework, with the Linear Inverted Pendulum Model as the basis of the predictive model. For bipedal robot walking, it divides ZMP (Zero Moment Point) con...

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Bibliographic Details

Published in:	IEEE Access
Main Authors:	Chih-Cheng Liu, Yi-Chung Lin, Chia-Sheng Li
Format:	Article
Language:	English
Published:	IEEE 2025-01-01
Subjects:	Bipedal walking gait generator humanoid robot linear inverted pendulum model predictive control ZMP constraint
Online Access:	https://ieeexplore.ieee.org/document/10884771/