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...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-10-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/8/4/89 |