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Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion.
Shunpeng Yang
Zejun Hong
Sen Li
Patrick M. Wensing
Wei Zhang
Hua Chen
Published in:
CoRR (2024)
Keyphrases
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legged locomotion
humanoid robot
motion planning
mechanical systems
control system
receding horizon
visual feedback
rough terrain
real world
input output
control strategy
control method
legged robots
robot behavior