Gait Generation of 22-DOF Humanoid Robot on Hard and Deformable Terrain with Double Support Phase
13TH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL, ROMOCO 2024（2024）
关键词
Humanoid Robot,Support Phase,Double Support Phase,Deformable Terrain,Center Of Mass,Angular Momentum,Left Leg,Left Foot,Contact Model,Virtual Point,Inverted Pendulum,Contact Point,Center Of Pressure,Angular Velocity,Position Vector,Jacobian Matrix,Normal Direction,Contact Force,Null Space,Linear Velocity,Normal Stiffness,Robot Dynamics,Uneven Terrain,Center Of Mass Motion,Normal Force,Normal Contact Force,Inertia Matrix,Tangential Direction,Tangent Plane,Inverted Pendulum Model
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