An efficiently solvable quadratic program for stabilizing dynamic locomotion

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...

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Bibliographic Details
Main Authors: Kuindersma, Scott (Contributor), Permenter, Frank Noble (Contributor), Tedrake, Russell Louis (Contributor)
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE), 2014-10-14T14:20:31Z.
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