2022
Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation
IROS 2022poster
We present a framework to generate periodic trajectory references for a 3D under-actuated bipedal robot, using a linear inverted pendulum (LIP) based controller with adaptive neural regulation. We use the LIP template model to estimate the robot's center of mass (CoM) position and velocity at the en…