Estimation and Closed-Loop Control of <i>COG</i>/<i>ZMP</i> in Biped Devices Blending <i>CoP</i> Measures and Kinematic Information

Estimation and Closed-Loop Control of <i>COG</i>/<i>ZMP</i> in Biped Devices Blending <i>CoP</i> Measures and Kinematic Information

The zero moment point (<inline-formula> <math display="inline"> <semantics> <mrow> <mi>Z</mi> <mi>M</mi> <mi>P</mi> </mrow> </semantics> </math> </inline-formula>) and the linearized inverted pendulum model...

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Bibliographic Details
Main Authors: Giuseppe Menga, Marco Ghirardi
Format: Article
Language:English
Published: MDPI AG 2019-10-01
Series:Robotics
Subjects:
biped robotics
exoskeletons
postural equilibrium
zero moment point
inverted pendulum
robust control
Online Access:https://www.mdpi.com/2218-6581/8/4/89

Internet

https://www.mdpi.com/2218-6581/8/4/89

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