Optimal Foot Trajectory Planning of Bipedal Robots Based on a Measure of Falling Regular Paper


This paper presents a falling‐based optimal foot trajectory planning method (FOFTP) for the effective walking of bipedal robots in three‐dimensional space. Our primary concern is to determine the optimal footstep location for the more balanced walking of bipedal robots based on a measure of falling. A proper strategy for the intermediate… (More)

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