Planning robust walking motion on uneven terrain via convex optimization
In this paper, we present a convex optimization problem to generate Center of Mass (CoM) and momentum trajectories of a walking robot, such that the motion robustly satisfies the friction cone constraints on uneven terrain. We adopt the Contact Wrench Cone (CWC) criterion to measure a robot's d...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020
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| Online Access: | https://hdl.handle.net/1721.1/124923 |