Feasible Wrench Set Computation for Legged Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3184806
Abstract: During locomotion, legged robots interact with the ground by sequentially establishing and breaking contact. The interaction wrenches that arise from contact are used to steer the robot’s Center of Mass (CoM) and reject perturbations that… read more here.
Keywords: legged robots; contact; feasible wrench; model ... See more keywords