In this paper, we provide several methods to solve the problem of humanoid robot walking on rough terrains. By using the Passive Inverted Pendulum Model（PIPM） and predictive control, with some optimizing strategy ad...In this paper, we provide several methods to solve the problem of humanoid robot walking on rough terrains. By using the Passive Inverted Pendulum Model（PIPM） and predictive control, with some optimizing strategy added, we realized the smooth walking on a slope with rocks on it.展开更多
文摘In this paper, we provide several methods to solve the problem of humanoid robot walking on rough terrains. By using the Passive Inverted Pendulum Model（PIPM） and predictive control, with some optimizing strategy added, we realized the smooth walking on a slope with rocks on it.
