Join Sebastian Castro and Carlos Santacruz-Rosero as they discuss the fundamentals of model-based gait control design for humanoid robots with legs. These include the simplified linear inverse pendulum model and the concept of the zero moment point (ZMP).

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Sebastian and Carlos demonstrate a few examples of controlling bipedal humanoid robots using zero-moment point manipulation and model predictive control (MPC). They will also mention some other necessary techniques, such as inverse kinematics and control logic.

The sample models used in this video can be found in the MATLAB Central File Exchange.

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