most citedBipedal Locomotion Optimization by Exploitation of the Full Dynamics in DCM Trajectory Planning

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cs.RO2022★ 7 cited

Bipedal Locomotion Optimization by Exploitation of the Full Dynamics in DCM Trajectory Planning

Amirhosein Vedadi, Kasra Sinaei, Pezhman Abdolahnezhad +2

Walking motion planning based on Divergent Component of Motion (DCM) and Linear Inverted Pendulum Model (LIPM) is one of the alternatives that could be implemented to generate onli…