Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped Walking.
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ABSTRACT:
SUBMITTER: Shi X
PROVIDER: S-EPMC7288453 | biostudies-literature | 2020 May
REPOSITORIES: biostudies-literature
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Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped Walking.
Shi Xuanyang X Gao Junyao J Lu Yizhou Y Tian Dingkui D Liu Yi Y
Sensors (Basel, Switzerland) 20200524 10
Biped robots are similar to human beings and have broad application prospects in the fields of family service, disaster rescue and military affairs. However, simplified models and fixed center of mass (COM) used in previous research ignore the large-scale stability control ability implied by whole-body motion. The present paper proposed a two-level controller based on a simplified model and whole-body dynamics. In high level, a model predictive control (MPC) controller is implemented to improve ...[more]
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