Velocity-Based Gait Planning for Underactuated Bipedal Robot on Uneven and Compliant Terrain
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DOI: 10.1109/tie.2021.3125671
Abstract: This article develops a gait planning method for underactuated bipedal robot on uneven and compliant terrain. First, we employ a linear spring-damper model to describe foot-ground compliant contact, and establish a decoupled robot–ground three-dimensional dynamic… read more here.
Keywords: compliant terrain; underactuated bipedal; uneven compliant; gait planning ... See more keywords