A Reactive and Efficient Walking Pattern Generator for Robust Bipedal Locomotion

Keyphrases

• Bipedal Locomotion 100%
• Divergent Component of Motion 100%
• Walking Pattern Generator 100%
• Angular Momentum 66%
• Linear Inverted Pendulum Model 66%
• Step Location 66%
• Biped Robot 33%
• Walking Pattern 33%
• Gait 33%
• Center of Pressure 33%
• Walking Velocity 33%
• Motion Measurement 33%
• Optimal Combination 33%
• Control Cycle 33%
• Contact Time 33%
• Model Dynamics 33%
• Quadratic Program 33%
• Current Step 33%
• Flywheel 33%
• Falling down 33%
• Dynamically Consistent 33%
• Contact Location 33%
• Program Use 33%
• Speed of Adjustment 33%
• Reactive Approach 33%
• Centroidal Momentum 33%
• Switching Contacts 33%
• Location Adjustments 33%
• Centre of Pressure Modulation 33%

Engineering

• Inverted Pendulum 100%
• Pattern Generator 100%
• Angular Momentum 100%
• Simulation Result 50%
• Robot 50%
• Optimal Combination 50%
• Current Step 50%
• Control Cycle 50%
• Flywheel 50%