Analyses of biped walking posture by dynamical-evaluating index
Sign Up to like & getrecommendations! Published in 2017 at "Artificial Life and Robotics"
DOI: 10.1007/s10015-017-0415-9
Abstract: In this paper, biped walking posture and design are evaluated through dynamic reconfiguration manipulability shape index (DRMSI). DRMSI is the concept derived from dynamic manipulability and reconfiguration manipulability with remaining redundancy. DRMSI represents the ability… read more here.
Keywords: index; task; biped walking; evaluating index ... See more keywords
A Comparative Study on the L1 Optimal Event-Based Method for Biped Walking on Rough Terrains
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Access"
DOI: 10.1109/access.2020.2996211
Abstract: This paper is concerned with a comparative study of biped walking on rough terrains. Given a bipedal robot capable of walking on a flat ground with periodic behavior, whose motion can be described by a… read more here.
Keywords: tex math; comparative study; walking rough; rough terrains ... See more keywords
A New Stability Framework for Trajectory Tracking Control of Biped Walking Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Informatics"
DOI: 10.1109/tii.2021.3139909
Abstract: This article proposes a new stability criterion for biped walking systems on the linear inverted pendulum model, in which the dynamic relationship between the center of mass (CoM) and the zero moment point (ZMP) is… read more here.
Keywords: new stability; control; stability criterion; stability ... See more keywords
Real-Time Footprint Planning and Model Predictive Control Based Method for Stable Biped Walking
Sign Up to like & getrecommendations! Published in 2022 at "Computational Intelligence and Neuroscience"
DOI: 10.1155/2022/4781747
Abstract: In order to walk in a physical environment, the biped will encounter various external disturbances, and walking under persistent conditions is still challenging. This paper tries to improve the push recovery performance based on capture… read more here.
Keywords: footprint; predictive control; stable biped; biped walking ... See more keywords