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Robust gait generator based on the LIPDF model for biped robot with five anti-disturbance strategies
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DOI：10.1016/j.isatra.2026.04.037.png)
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Abstract
En 中文
• Robust gait generator is essential for realizing the full potential of biped robots. • Model-based control approaches have substantial potential for further research. • The ankle joint plays a critical role in maintaining balance, rejecting disturbances, and adapting to uneven terrain. • Integrate more anti-disturbance strategies can enhance the robustness of bipedal locomotion. • QP-based MPC enables efficient online gait generation.
Keywords:
biped robot
gait generation
LIPDF model
anti-disturbance strategies
QP-based MPC
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