Multi-step limit cycle generation for Rabbit’s walking based on nonlinear low dimensional predictive control scheme
نویسندگان
چکیده
منابع مشابه
Multi-step limit cycle generation for Rabbit’s walking based on a nonlinear low dimensional predictive control scheme
In this paper, a new nonlinear predictive control scheme is proposed for a five-link planar under-actuated biped walking robot. The basic feature in the proposed strategy is to use on-line optimization to update the tracked trajectories in the completely controlled variables (actuated coordinates) in order to enhance the behavior and the stability of the remaining indirectly controlled ones (un...
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تاریخ انتشار 2017