Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints.

Sean Mason Nicholas Rotella Stefan Schaal Ludovic Righetti

Published in: CoRR (2017)

Keyphrases

optimal control
air fuel ratio
dc dc converter
control method
constraint satisfaction
control system
linear constraints
walking robot
biped robot
linear quadratic
highly nonlinear
control theory
dynamic model
feedback control
force feedback
geometric constraints
humanoid robot
control algorithm
dynamical systems