Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers
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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… read more here.
Keywords: stabilization periodic; periodic gaits; quadrupedal locomotion; robust stabilization ... See more keywords