Rapid stability margin estimation for contact-rich locomotion
The efficient evaluation the dynamic stability of legged robots on non-coplanar terrains is important when developing motion planning and control policies. The inference time of this measure has a strong influence on how fast a robot can react to unexpected events, plan its future footsteps or its b...
| Main Authors: | , , , , , |
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| Format: | Conference item |
| Language: | English |
| Published: |
IEEE
2021
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