Advanced Control of Biped Robot Motion
نویسنده
چکیده
Next generation robots will be required to operate alongside people in complex environments that are primarily designed for humans. Humanoid robots present themselves as the logical choice for such tasks. In order to successfully navigate within human environments, humanoid robots require complex dynamic movements with robust balance maintenance on uneven terrain and during unexpected balance disturbances. As bipedal locomotion is one of the most challenging problems in the field of robotics today, a variety of different control approaches is being studied by researchers. This work gives a review of most frequently used methods as a starting point for future research on advanced control of biped robot motion. Keywords—legged locomotion; balance control; humanoid walking robot; zero moment point; inverted pendulum model
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