Sparse Optimization of Contact Forces for Balancing Control of Multi-Legged Humanoids.
Matteo Parigi PolveriniEnrico Mingo HoffmanArturo LaurenziNikos G. TsagarakisPublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- legged robots
- contact force
- motion control
- inverted pendulum
- legged locomotion
- control system
- master slave
- control method
- optimal control
- optimization method
- optimization algorithm
- computer vision
- control strategies
- human computer interaction
- reverse engineering
- adaptive control
- feedback control
- optimization methods