ZNN-Based Gait Optimization for Humanoid Robots with ALIP and Inequality Constraints
This paper presents a zeroing neural networks (ZNN)-based gait optimization strategy for humanoid robots. First, the algorithm converts the angular momentum linear inverted pendulum (ALIP)-based gait planning problem into a time-varying quadratic programming (TVQP) problem by adding adaptive adjustm...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-03-01
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| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/13/6/954 |
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