Stability Control and Simulation Experiments of Biped Humanoid Robot Walking on Rough Terrains  

作　　者：Jiang Kai 

机构地区：[1]Shanghai Jiao Tong University 200240

出　　处：《International Journal of Technology Management》2015年第1期114-116,共3页国际技术管理

摘　　要：In this paper, we provide several methods to solve the problem of humanoid robot walking on rough terrains. By using the Passive Inverted Pendulum Model（PIPM） and predictive control, with some optimizing strategy added, we realized the smooth walking on a slope with rocks on it.

关 键 词：Humanoid Robot ZMP Predictive Control Biped Walking 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] U467.13[自动化与计算机技术—控制科学与工程]