Quasi-inverse pendulum model of 12 DoF bipedal walking
This paper presents modeling of a 12-degree of freedom (DoF) bipedal robot, focusing on the lower limbs of the system, and trajectory design for walking on straight path. Gait trajectories are designed by modeling of center of mass (CoM) trajectory and swing foot ankle trajectory based on stance foo...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English English |
| Published: |
Chinese Academy of Sciences
2017
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/63049/ http://irep.iium.edu.my/63049/ http://irep.iium.edu.my/63049/ http://irep.iium.edu.my/63049/1/63049_Quasi-inverse%20pendulum%20model_article.pdf http://irep.iium.edu.my/63049/2/63049_Quasi-inverse%20pendulum%20model_scopus.pdf |