Cyclic gait planning and control of a five-link biped robot with four actuators during single support and double support phases

DOI10.1007/s11044-013-9404-5zbMath1308.93150OpenAlexW1995708555MaRDI QIDQ2340355

Reza Dehghani, Esmaeil Abedi, Abbas Fattah

Publication date: 16 April 2015

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-013-9404-5

zbMATH Keywords

time optimal controlreceding horizon controlunderactuationbiped robotover-actuation

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Automated systems (robots, etc.) in control theory (93C85) Artificial intelligence for robotics (68T40)

Related Items (2)

Skeletal-level control-based forward dynamic analysis of acquired healthy and assisted gait motion ⋮ Knee and torso kinematics in generation of optimum gait pattern based on human-like motion for a seven-link biped robot

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