Robust Walking for Humanoid Robot Based on Divergent Component of Motion
In order to perform various complex tasks in place of humans, humanoid robots should walk robustly in the presence of interference. In the paper, an improved model predictive control (MPC) method based on the divergent components of motion (DCM) is proposed. Firstly, the humanoid robot model is simp...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-07-01
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| Series: | Micromachines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-666X/13/7/1095 |