Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion
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DOI: 10.1109/lra.2022.3185374
Abstract: In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternates between optimizing centroidal dynamics for a reduced-order model and whole-body… read more here.
Keywords: agile quadrupedal; trajectory optimization; control; optimization ... See more keywords