@inproceedings{7fb0f70ebab84e31be6d964940995456,
title = "Whole-Body Control Based on Landing Estimation for Fixed-Period Bipedal Walking on Stepping Stones",
abstract = "This paper presents a control framework based on the landing estimation method. We applied a novel landing criterion based on the flywheel inverted pendulum model to stabilize the robot at a given landing point. We also analyze the effect of the support torque and the centroidal angular momentum on the landing criterion to construct the fixed-period task for fixed period walking. The fixed-period task is a cumulative task, which is introduced into the control system to reduce its dependence on the tracking of COM trajectory. The control tasks, including fixed-period task, is carried out through the whole-body control frame, which adopt the optimization method to calculate the viable joint torque under the walking constraints. We verified the capabilities of the proposed controller in a planar simulation with the stepping-stone terrain.",
keywords = "fixed-period walking, flywheel inverted pendulum, landing estimation, optimization method, stepping-stone terrain, whole-body control",
author = "Yizhou Lu and Junyao Gao and Xuanyang Shi and Dingkui Tian and Zhiyuan Jia",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 3rd International Conference on Control and Robots, ICCR 2020 ; Conference date: 26-12-2020 Through 29-12-2020",
year = "2020",
month = dec,
day = "26",
doi = "10.1109/ICCR51572.2020.9344388",
language = "English",
series = "2020 3rd International Conference on Control and Robots, ICCR 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "140--149",
booktitle = "2020 3rd International Conference on Control and Robots, ICCR 2020",
address = "United States",
}