MPC-Based Walking Stability Control for Bipedal Robots on Uneven Terrain

MPC-Based Walking Stability Control for Bipedal Robots on Uneven Terrain

This paper proposes an algorithm capable of regenerating gait patterns online. The algorithm is designed using the Model Predictive Control (MPC) framework, with the Linear Inverted Pendulum Model as the basis of the predictive model. For bipedal robot walking, it divides ZMP (Zero Moment Point) con...

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Bibliographic Details
Main Authors: Chih-Cheng Liu, Yi-Chung Lin, Chia-Sheng Li
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Access
Subjects:
Bipedal walking
gait generator
humanoid robot
linear inverted pendulum
model predictive control
ZMP constraint
Online Access:https://ieeexplore.ieee.org/document/10884771/

Internet

https://ieeexplore.ieee.org/document/10884771/

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