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...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Springer Science+Business Media
2016
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| Online Access: | http://hdl.handle.net/1721.1/103142 https://orcid.org/0000-0002-9041-5175 |