Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion

This paper presents new recursive dynamics algorithms that enable operational-space control of floating-base systems to be performed at faster rates. This type of control approach requires the computation of operational-space quantities and suffers from high computational order when these quantities...

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Bibliographic Details
Main Authors: Wensing, Patrick M., Palmer, Luther R., Orin, David E.
Other Authors: Massachusetts Institute of Technology. Department of Mechanical Engineering
Format: Article
Language:English
Published: Springer Science+Business Media 2016
Online Access:http://hdl.handle.net/1721.1/103142
https://orcid.org/0000-0002-9041-5175