Three-dimensional variable center of mass height biped walking using a new model and nonlinear model predictive control
Zhongqu Xie, Yulin Wang, Xiang Luo, Pierluigi Arpenti, Fabio Ruggiero, Bruno Siciliano
Topics & Concepts
Zero moment pointControl theory (sociology)Inverted pendulumTrajectoryMoment (physics)Humanoid robotNonlinear systemCentroidModel predictive controlRotation (mathematics)Computer scienceCenter of mass (relativistic)PendulumRobotSimulationEngineeringControl (management)Artificial intelligencePhysicsEnergy–momentum relationQuantum mechanicsClassical mechanicsMechanical engineeringAstronomyRobotic Locomotion and ControlProsthetics and Rehabilitation RoboticsNeurogenetic and Muscular Disorders Research