Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Here  present a closed-form solution to the continuous time-varying linear-quadratic regulator problem for zero-moment point (ZMP) tracking. This generalizes previous analytical solutions for gait generation by allowing "soft" tracking (with a quadratic cost) of the desired ZMP, and by providing the feedback gains for the resulting time-varying optimal controller. This enables very fast O(n) computation, with n the number of piecewise polynomial segments in the desired ZMP trajectory. Results are presented using the Atlas humanoid robot where dynamic walking is achieved by recomputing the optimal controller online.
['Russ Tedrake', 'Scott Kuindersma', 'Robin Deits', 'Kanako Miura']
I am writing a research paper on a idea A closed-form solution for real-time ZMP gait generation and feedback stabilization
[{"from": "human", "value": "I am writing a research paper on a idea A closed-form solution for real-time ZMP gait generation and feedback stabilization"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Here  present a closed-form solution to the continuous time-varying linear-quadratic regulator problem for zero-moment point (ZMP) tracking. This generalizes previous analytical solutions for gait generation by allowing \"soft\" tracking (with a quadratic cost) of the desired ZMP, and by providing the feedback gains for the resulting time-varying optimal controller. This enables very fast O(n) computation, with n the number of piecewise polynomial segments in the desired ZMP trajectory. Results are presented using the Atlas humanoid robot where dynamic walking is achieved by recomputing the optimal controller online."}]