Gait Planning of Lower Extremity Exoskeleton Climbing Stair based on Online ZMP Correction
In order to improve the stability of the lower extremity exoskeleton robot climbing the stair， the reasonable gait planning and error correction are two important aspects. To this end， an online correction method of zero moment point (ZMP) during the stair step is proposed. Firstly， the movement mod...
| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2020-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.01.010 |