Foot Stepping Algorithm of Humanoids with Double Support Time Adjustment Based on Capture Point Control.
2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2023)（2023）
Key words
capture point control,double support phase time adjustment,DSP scaling method,DSP time,foot stepping algorithm,humanoid robots,model predictive control framework,MPC,robust balance control performance,stable balancing performance,swing phase
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