Quadrupedal Robots Whole-Body Motion Control Based on Centroidal Momentum Dynamics
In this paper, we demonstrate a method for quadruped dynamic locomotion based on centroidal momentum control. Our method relies on a quadratic program that solves an optimal control problem to track the reference rate of change of centroidal momentum as closely as possible while satisfying the dynam...
I tiakina i:
| Ngā kaituhi matua: | , , , , , |
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| Hōputu: | Artigo |
| Reo: | Inglês |
| I whakaputaina: |
MDPI AG
2019-03-01
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| Rangatū: | Applied Sciences |
| Ngā marau: | |
| Urunga tuihono: | https://www.mdpi.com/2076-3417/9/7/1335 |
| Ngā Tūtohu: |
Kāore He Tūtohu, Me noho koe te mea tuatahi ki te tūtohu i tēnei pūkete!
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