A self‐stabilised walking gait for humanoid robots based on the essential model with internal states
Abstract Walking stability is one of the key issues for humanoid robots. A self‐stabilised walking gait for a full dynamic model of humanoid robots is proposed. For simplified models, that is, the linear inverted pendulum model and variable‐length inverted pendulum model, self‐stabilisation of walki...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-12-01
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| Series: | IET Cyber-systems and Robotics |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/csy2.12071 |