Nonlinear model predictive control for robust bipedal locomotion: exploring angular momentum and CoM height changes

Ding, J, Zhou, C orcid.org/0000-0002-6677-0855, Xin, S et al. (2 more authors) (2021) Nonlinear model predictive control for robust bipedal locomotion: exploring angular momentum and CoM height changes. Advanced Robotics, 35 (18). pp. 1079-1097. ISSN 0169-1864

Abstract

Metadata

Authors/Creators:
Keywords: Bipedal locomotion, model predictive control, height variation, angular momentum adaptation, step location adjustment, zero moment point
Dates:
  • Accepted: 24 March 2021
  • Published (online): 26 August 2021
  • Published: 17 September 2021
Institution: The University of Leeds
Academic Units: The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds)
Depositing User: Symplectic Publications
Date Deposited: 29 Nov 2021 13:57
Last Modified: 29 Nov 2021 13:57
Status: Published
Publisher: Taylor & Francis
Identification Number: https://doi.org/10.1080/01691864.2021.1928543
Related URLs:

Download not available

A full text copy of this item is not currently available from White Rose Research Online

Export

Statistics