Foot Placement Compensator Design for Humanoid Walking Based on Discrete Control Lyapunov Function

Volume: 51, Issue: 4, Pages: 2332 - 2341
Published: Apr 1, 2021
Abstract
In this paper, an online foot position compensator (FPC) is proposed for improving the robustness of humanoid walking based on orbital energy conservation and discrete control Lyapunov function (DCLF), with which the asymptotic stability of the humanoid system can be maintained and, thus, the foot placement control is achieved. The online FPC is developed based on linear model predictive control (MPC) by replanning the trajectories of the center...
Paper Details
Title
Foot Placement Compensator Design for Humanoid Walking Based on Discrete Control Lyapunov Function
Published Date
Apr 1, 2021
Journal
Volume
51
Issue
4
Pages
2332 - 2341
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