Article

Bipedal Robot Joint Trajectory Generation for Predetermined Zero Momentum Point

2024-04-09

Abstract excerpt

Numerous control methodologies have been proposed by researchers to develop an efficient bipedal dynamic walking robots that emulate human locomotion. In our previous works we have introduced Energy Dissipation Rate Control (EDRC) where a stable walking gait was achieved by regulating the rate of the energy dissipation, during each Impact Phases (IP). This method opposes previous works in this field where their co...

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Literature Corpus work: 8d614292-b755-5499-96e6-17f1f597e9f5
DOI: 10.21203/rs.3.rs-4209323/v1

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