Full-Body Optimization-Based Bipedal Walking Control With Task-Space Inverse Dynamics and Virtual Constraints
Achieving stable and versatile bipedal locomotion remains a major challenge in robotics, with applications in personal assistance, healthcare, and search and rescue. The hybrid zero dynamics (HZD) framework, based on virtual constraints, has shown strong potential for generating provably stable gait...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2025-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/joro/9391563 |
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