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Published in 2022 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2021.3133198
Abstract: This letter develops, theoretically justifies, and experimentally implements an optimization-based nonlinear control methodology for stabilizing quadrupedal locomotion. This framework utilizes virtual constraints and control Lyapunov functions (CLFs) in the context of quadratic programs (QPs) to…
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Keywords:
stabilization periodic;
periodic gaits;
quadrupedal locomotion;
robust stabilization ... See more keywords