Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion.
Ziyi ZhouBruce WingoNathan BoydSeth HutchinsonYe ZhaoPublished in: CoRR (2022)
Keyphrases
- legged robots
- robot control
- robotic systems
- global optimization
- robot motion
- mobile robot
- control system
- optimization problems
- optimization algorithm
- degrees of freedom
- constrained optimization
- quadruped robot
- rough terrain
- trajectory data
- optimization process
- control method
- optimization methods
- software development