Application of variable zero-moment point in walking control of the biped robot
Using the predictive control based on zero-moment point (ZMP), the biped robot can walk comparatively stably. However, the problems such as lack of self-adaptivity are also highlighted mainly on account of modeling errors and environmental perturbations; specifically, the tracking errors of ZMP are...
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| 格式: | Article |
| 语言: | English |
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Penerbit Universiti Kebangsaan Malaysia
2019
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| 在线阅读: | http://journalarticle.ukm.my/14464/1/17%20Chenglin%20Jing.pdf http://journalarticle.ukm.my/14464/ http://www.ukm.my/jsm/malay_journals/jilid48bil12_2019/KandunganJilid48Bil12_2019.html |
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