Generation of motion patterns with turns for bipedal walking robot based on actuated 3D Dual-SLIP model

摘要

In this paper we put forward a method for generating motion patterns for bipedal walking robots based on the actuated 3D Dual-SLIP model. In the literature the actuated 3D Dual-SLIP model was used for motion without double support, i.e. running, planar walking or straight forward movement. In this work we demonstrate how motion patterns with turns can be obtained using linear quadratic controller.