Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped Walking

Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped Walking

Biped robots are similar to human beings and have broad application prospects in the fields of family service, disaster rescue and military affairs. However, simplified models and fixed center of mass (COM) used in previous research ignore the large-scale stability control ability implied by whole-b...

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Bibliographic Details
Main Authors: Xuanyang Shi, Junyao Gao, Yizhou Lu, Dingkui Tian, Yi Liu
Format: Article
Language:English
Published: MDPI AG 2020-05-01
Series:Sensors
Subjects:
MPC
whole-body dynamics
quadratic optimization
disturbance recovery
Online Access:https://www.mdpi.com/1424-8220/20/10/2971

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