Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion
January 1, 2023·,,,,,,,,·
1 min read
Xiang Meng
Zhen Huang
Qihang Liang
Yudong Dong
Zhengyang Gao
Lei Han
Junhang Lai
Sen Gu
Hang Chen
Abstract
This work studies whole-body motion optimization for humanoid robots walking down stairs under small joint range of motion constraints.
Type
Publication
IFToMM World Congress on Mechanism and Machine Science
Status
Peer-reviewed
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