An efficiently solvable quadratic program for stabilizing dynamic locomotion
We describe a whole-body dynamic walking controller implemented as a convex quadratic program. The controller solves an optimal control problem using an approximate value function derived from a simple walking model while respecting the dynamic, input, and contact constraints of the full robot dynam...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2014
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| Online Access: | http://hdl.handle.net/1721.1/90913 https://orcid.org/0000-0002-8935-7449 https://orcid.org/0000-0002-8712-7092 |