One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-inspired Controller
Yukai Gong Jessy Grizzle Yukai Gong Jessy Grizzle
Ultimately, feedback control is about making adjustments using current state information in order to meet an objective in the future. In the control of bipedal locomotion, linear velocity of the center of mass has been widely accepted as the primary variable around which feedback control objectives are formulated. In this paper, we argue that it is easier to predict the one-step ahead evolution of...