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: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE),
2014-10-14T14:20:31Z.
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| Subjects: | |
| Online Access: | Get fulltext |