One-Step Deadbeat Control of a 5-Link Biped Using Data-Driven Nonlinear Approximation of the Step-to-Step Dynamics
For bipedal robots to walk over complex and constrained environments (e.g., narrow walkways, stepping stones), they have to meet precise control objectives of speed and foot placement at every single step. This control that achieves the objectives precisely at every step is known as one-step deadbea...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-11-01
|
| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/9/4/90 |