Bipedal Stepping Controller Design Considering Model Uncertainty: A Data-Driven Perspective
This article introduces a novel perspective on designing a stepping controller for bipedal robots. Typically, designing a state-feedback controller to stabilize a bipedal robot to a periodic orbit of step-to-step (S2S) dynamics based on a reduced-order model (ROM) can achieve stable walking. However...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-11-01
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| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/9/11/681 |
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