期刊
2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)
卷 -, 期 -, 页码 75-81出版社
IEEE
关键词
-
类别
We have realized a biped walking control based on the spatially quantized dynamics (SQD) which discretizes a continuous system by a constant unit length along the walk direction. By using SQD, a prescribed sagittal kinematic pattern can be transformed into dynamically consistent robot motion in real-time. The lateral motion is generated by preview control which uses future ZMP predicted by SQD at every control cycle. A successful biped walk of HRP-2Kai with fully stretched knees and long stride was realized by the proposed method.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据