Walking on Biped Robot Motion
0.0416Standard Deviation (degrees)Three-Stage Offline SDRE-Based Control Framework
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| Three-Stage Offline SDRE-Based Control FrameworkSide=Left, Part=Hip2025.06 | 0.0416 | 1.2536 | |
| Three-Stage Offline SDRE-Based Control FrameworkSide=Right, Part=Hip2025.06 | 0.0711 | 0.965 | |
| Three-Stage Offline SDRE-Based Control FrameworkSide=Left, Part=Knee2025.06 | 0.1448 | 2.2518 | |
| Three-Stage Offline SDRE-Based Control FrameworkSide=Right, Part=Knee2025.06 | 0.1454 | 2.5199 | |
| MPCSide=Left, Part=Hip2025.06 | 0.393 | 6.0112 | |
| MPCSide=Right, Part=Hip2025.06 | 0.4152 | 4.2746 | |
| IPSO-PIDSide=Left, Part=Hip2025.06 | 0.5011 | 4.2011 | |
| MPCSide=Left, Part=Knee2025.06 | 0.6895 | 12.9637 | |
| IPSO-PIDSide=Left, Part=Knee2025.06 | 0.6912 | 8.8037 | |
| IPSO-PIDSide=Right, Part=Hip2025.06 | 0.6945 | 5.0258 | |
| MPCSide=Right, Part=Knee2025.06 | 0.9265 | 10.0332 | |
| IPSO-PIDSide=Right, Part=Knee2025.06 | 1.4694 | 8.3647 |