2019
Virtual-mass-ellipsoid Inverted Pendulum Model and Its Applications to 3D Bipedal Locomotion on Uneven Terrains
IROS 2019poster
It is still an open problem to develop a reduced order model of bipedal walking that closely represents the complex dynamics of humanoid robots. In this paper, we propose control methodologies, removing both the constant CoM height constraint and the constant centroidal angular momentum constraint.…