Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots
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DOI: 10.1109/lcsys.2022.3167795
Abstract: Quadratic programming (QP)-based nonlinear controllers have gained increasing popularity in the legged locomotion community. This letter presents a formal foundation to systematically decompose QP-based centralized nonlinear controllers into a network of lower-dimensional local QPs, with… read more here.
Keywords: nonlinear controllers; quadratic programming; local qps; programming based ... See more keywords