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

作　　者：Jiang Kai 

机构地区：[1]Shanghai JiaoTong University, 200240

出　　处：《International Journal of Technology Management》2015年第8期140-142,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：G[文化科学]