Stair Climbing Using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control
Oluwami Dosunmu-Ogunbi,Aayushi Shrivastava,Grant Gibson,Jessy W Grizzle,Oluwami Dosunmu-Ogunbi,Aayushi Shrivastava,Grant Gibson,Jessy W Grizzle
A new control paradigm using angular momentum and foot placement as state variables in the linear inverted pendulum model has expanded the realm of possibilities for the control of bipedal robots. This new paradigm, known as the ALIP model, has shown effectiveness in cases where a robot's center of mass height can be assumed to be constant or near constant as well as in cases where there are no no...
