首页|Study Results from Nanjing University of Science and Technology Provide New Insi ghts into Robotics (Three-dimensional Variable Center of Mass Height Biped Walki ng Using a New Model and Nonlinear Model Predictive Control)
Study Results from Nanjing University of Science and Technology Provide New Insi ghts into Robotics (Three-dimensional Variable Center of Mass Height Biped Walki ng Using a New Model and Nonlinear Model Predictive Control)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Research findings on Robotics are disc ussed in a new report. According to news reporting from Nanjing, People’s Republ ic of China, by NewsRx journalists, research stated, “This paper presents a traj ectory generation algorithm for a three-dimensional (3D) biped robot that can ad just the center of mass (CoM) according to the environment. We adopt a new abstr act model that supports vertical motion and rotation.” The news correspondents obtained a quote from the research from the Nanjing Univ ersity of Science and Technology, “Differing from traditional abstract models, t he proposed full centroid dynamics inverted pendulum model fully considers the r obot’s movement and rotation. Unlike the zero moment point (ZMP), which only ens ures the feet do not flip over, we also propose a new additional stability crite rion, named zero frictional moment point (ZFMP), guaranteeing no yaw rotation wh ile walking. Next, a nonlinear model predictive control is designed to generate the CoM trajectory, torso rotational angle, and adaptive footholds to induce var ious biped gaits.”
NanjingPeople’s Republic of ChinaAsi aEmerging TechnologiesMachine LearningRobotRoboticsNanjing University of Science and Technology
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