Fast Online Optimization for Terrain-Blind Bipedal Robot Walking With a Decoupled Actuated SLIP Model
We present an online optimization algorithm which enables bipedal robots to blindly walk over various kinds of uneven terrains while resisting pushes. The proposed optimization algorithm performs high-level motion planning of footstep locations and center-of-mass height variations using the decouple...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2022-02-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2022.812258/full |