A Robust Disturbance Rejection Whole-Body Control Framework for Bipedal Robots Using a Momentum-Based Observer
This paper presents a complete planner and controller scheme for bipedal robots, designed to enhance robustness against external disturbances. The high-level planner utilizes model predictive control (MPC) to optimize both the foothold location and step duration based on the divergent component of m...
Saved in:
| Main Authors: | , , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-03-01
|
| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/10/3/189 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|