Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots
Author:
Affiliation:
1. Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA
2. Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA
Funder
National Science Foundation
NSF
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Subject
Control and Optimization,Control and Systems Engineering
Link
https://ieeexplore.ieee.org/ielam/7782633/9462165/9758062-aam.pdf
Reference38 articles.
1. Per-Contact Iteration Method for Solving Contact Dynamics
2. Decentralized Control Schemes for Stable Quadrupedal Locomotion: A Decomposition Approach from Centralized Controllers
3. Distributed Controllers for Human-Robot Locomotion: A Scalable Approach Based on Decomposition and Hybrid Zero Dynamics
4. First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons
5. Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control
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