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What is Quadrupedal Robot Motion Control Dynamics about?
This document summarizes a research paper on controlling the motion of quadrupedal robots based on centroidal momentum dynamics. The paper presents a method for dynamic locomotion that uses a quadratic program to solve an optimal control problem to track the desired rate of change of centroidal momentum while satisfying robot dynamics and contact constraints. Simulation and hardware results show the proposed controller can achieve trotting gaits on a quadruped robot by generating desired motions based on ce
- Author
- luukverstegen
- Language
- EN