Flexible model predictive control based on multivariable online adjustment mechanism for robust gait generation
The gait generation algorithm considering both step distance adjustment and step duration adjustment could improve the anti-disturbance ability of the humanoid robot, which is very important to the dynamic balance, but the step duration adjustment often brings non-convex optimization problems. In or...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2020-01-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881419887291 |