Unified Passivity-Based Control for Turning and Walking in Asymptotically Stable Biped Robots
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Access"
DOI: 10.1109/access.2025.3600313
Abstract: Dynamically stable biped robots that mimic human movement have seen significant progress in straight walking, but turning and steering remain challenging. This paper presents a novel passivity-based method for turning control and steering in 3D… read more here.
Keywords: stable biped; passivity based; control; biped robots ... 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