Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation
Victor C. Paredes,Ayonga Hereid,Victor C. Paredes,Ayonga Hereid
We present a framework to generate periodic trajectory references for a 3D under-actuated bipedal robot, using a linear inverted pendulum (LIP) based controller with adaptive neural regulation. We use the LIP template model to estimate the robot's center of mass (CoM) position and velocity at the end of the current step, and formulate a discrete controller that determines the next footstep locatio...
