Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots

Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots

This paper presents a novel omnidirectional walking pattern generator for bipedal locomotion combining two structurally different approaches based on the virtual constraints and the preview control theories to generate a flexible gait that can be modified on-line. The proposed strategy synchronizes...

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Bibliographic Details
Main Authors:	Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
Format:	Article
Language:	English
Published:	Frontiers Media S.A. 2021-06-01
Series:	Frontiers in Robotics and AI
Subjects:	walking pattern generation bipedal locomotion humanoid robots whole-body control motion control
Online Access:	https://www.frontiersin.org/articles/10.3389/frobt.2021.660004/full

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