Artur Pereira

A Robust Biped Locomotion Based on Linear-Quadratic-Gaussian Controller and Divergent Component of Motion

Generating robust locomotion for a humanoid robot in the presence of disturbances is difficult because of its high number of degrees of freedom and its unstable nature. In this paper, we used the concept of Divergent Component of Motion (DCM) and propose an optimal closed-loop controller based on Li…