Variational-Based Optimal Control of Underactuated Balancing for Dynamic Quadrupeds
This paper presents a control strategy for quadruped balancing that enables postural control in underactuated contact configurations (e.g., when standing on two point feet). Underactuated balancing has received considerable attention with prototype control models such as the cart pendulum or acrobot...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9033976/ |