LMPC based online generation of more efficient walking motions
Résumé
This paper proposes solutions to the relative lack of efficiency of walking trajectories generated online. Extensions of a previously introduced Linear Model Predictive Control law are proposed that allow to improve the walking performance through variation of the height of the CoM and toe flexion. Extensive simulations serve to demonstrate the capacity of the improved scheme to generate significantly more efficient walking motions.
Domaines
Automatique / Robotique| Origine | Fichiers produits par l'(les) auteur(s) |
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