A Linearization of Centroidal Dynamics for the Model-Predictive Control of Quadruped Robots
Author:
Affiliation:
1. Tencent Robotics X,Shenzhen,Guangdong,China
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/9811522/9811357/09812433.pdf?arnumber=9812433
Reference44 articles.
1. Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds
2. Feedback MPC for Torque-Controlled Legged Robots
3. Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid
4. Whole-body hierarchical motion and force control for humanoid robots
5. Human motion tracking control with strict contact force constraints for floating-base humanoid robots
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