A grid gradient approximation method of energy-efficient gait planning for biped robots
نویسندگان
چکیده
منابع مشابه
Energy-Efficient MPC for biped robots
Traditional methods for robotic biped locomotion employing stiff actuation display low energy efficiency and high sensitivity to disturbances. Legged locomotion can be modelled as an hybrid system, where continuous dynamic flows, such as the single or double support stages, are interrupted by discrete jumps, such as heelstrike or lift-off. Traditional control systems are not suited to deal with...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2021
ISSN: 1729-8814,1729-8814
DOI: 10.1177/17298814211004327