Balance and Walking Control for Biped Robot Based on Divergent Component of Motion and Contact Force Optimization
This paper presents a complete planner and controller scheme to achieve balance and walking for a biped robot, which does not need to distinguish the robot’s dynamic model parameters. The high-level planner utilizes model predictive control to optimize both the foothold location and step duration ba...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-07-01
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| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/12/14/2188 |