Balancing and walking using full dynamics LQR control with contact constraints.

Sean Mason Nicholas Rotella Stefan Schaal Ludovic Righetti

Published in: Humanoids (2016)

Keyphrases

optimal control
control system
control method
dynamical systems
control theory
air fuel ratio
walking robot
linear constraints
initial conditions
reference trajectory
constraint satisfaction
nonlinear dynamics
highly nonlinear
master slave
dc dc converter