An efficient bipedal walking system based on model predictive control
A model-predictive,efficient bipedal walking system was presented in this paper.Initially,optimal efficiency algorithms were employed to analyze the optimal gait of bipedal locomotion,including stride length and walking speed,on which a reference trajectory was generated.Subsequently,employing the model predictive control paradigm,the robot's optimal and efficient gait was tracked and controlled.Finally,an efficient and stable bipedal walking system was constructed by combining robot inverse kinematics.Simulation results validated that the system could effectively track the generated efficient walking gait,exploring new avenues for dynamic walking for bipedal robots.
model predictive controllinear inverted pendulumefficient walking gaitzero moment point(ZMP)support polygon
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