Natural Walking Trajectory Generator for Humanoid Robot Based on Three-Mass LIPFM
In this paper, a dynamic model named Three-mass Linear Inverted Pendulum plus Flywheel Model (TLIPFM) is proposed to approximate the walking motion of the humanoid robot. The mass distribution of the robot and the angular momentum of the robot are simultaneously considered to construct the dynamic m...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9300181/ |