Application of variable zero-moment point in walking control of the biped robot

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Application of variable zero-moment point in walking control of the biped robot

Using the predictive control based on zero-moment point (ZMP), the biped robot can walk comparatively stably. However, the problems such as lack of self-adaptivity are also highlighted mainly on account of modeling errors and environmental perturbations; specifically, the tracking errors of ZMP are...

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Bibliographic Details
Main Author:	Jing, Chenglin
Format:	Article
Language:	English
Published:	Penerbit Universiti Kebangsaan Malaysia 2019
Online Access:	http://journalarticle.ukm.my/14464/ http://journalarticle.ukm.my/14464/1/17%20Chenglin%20Jing.pdf

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