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Bipedal robot locomotion modelling with virtual height inverted pendulum and preview control approaches in Simulink environment
2016
Journal of Robotics, Networking and Artificial Life (JRNAL)
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Control algorithms development for humanoid locomotion is difficult due to humanoid's high number of Degrees of Freedom and system nonlinearity. Moreover, a humanoid may lose balance as its walking speed changes. We present AR-601M humanoid locomotion modelling with virtual height inverted pendulum and preview control approaches. A step length and period influence on walking stability were investigated and simulated within Simulink environment. Achievable in simulation maximal torques in leg
doi:10.2991/jrnal.2016.3.3.9
fatcat:5qssphvsmnanfgn6hsi6zccfhu