Real-Time Footprint Planning and Model Predictive Control Based Method for Stable Biped Walking
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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