About this document

Optimal ZMP Pattern Generator for Humanoids by flv_91 is a document available to read on EtoBox.

This document describes an optimal pattern generator for dynamic walking in humanoid robots based on a three-mass linear inverted pendulum model (3MLIPM). The 3MLIPM approximates the biped robot as a system of three point masses and two links. An optimization problem is formulated to find the model parameter values that minimize a performance index related to dynamic walking stability. Numerical simulations demonstrate the effectiveness of the proposed optimal pattern generator for stable walking of the SHE

Author

flv_91

Language

EN