Real-time footstep planning including capture point trajectory optimization for stable biped navigation
Sign Up to like & getrecommendations! Published in 2021 at "Transactions of the Institute of Measurement and Control"
DOI: 10.1177/0142331221989512
Abstract: For stable and efficient biped navigation, a real-time footstep planner taking bipedal dynamics for walking stability control into consideration is proposed. A capture point (CP)-based walking controller is utilized, and footstep planning including reference CP… read more here.
Keywords: biped navigation; real time; footstep planning; optimization ... See more keywords
Walking control of humanoid robots based on improved footstep planner and whole-body coordination controller
Sign Up to like & getrecommendations! Published in 2025 at "Frontiers in Neurorobotics"
DOI: 10.3389/fnbot.2025.1538979
Abstract: High-speed walking is fundamental for humanoid robots to quickly reach the work site in emergency scenarios. According to biological studies, the coordinated motion of the arms and waist can significantly enhance walking speed and stability… read more here.
Keywords: footstep; control; walking control; controller ... See more keywords