A convex model of humanoid momentum dynamics for multi-contact motion generation

@article{Ponton2016ACM,
  title={A convex model of humanoid momentum dynamics for multi-contact motion generation},
  author={Brahayam Ponton and Alexander Herzog and Stefan Schaal and Ludovic Righetti},
  journal={2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)},
  year={2016},
  pages={842-849}
}
  • Brahayam Ponton, Alexander Herzog, +1 author Ludovic Righetti
  • Published in
    IEEE-RAS 16th International…
    2016
  • Computer Science
  • Linear models for control and motion generation of humanoid robots have received significant attention in the past years, not only due to their well known theoretical guarantees, but also because of practical computational advantages. However, to tackle more challenging tasks and scenarios such as locomotion on uneven terrain, a more expressive model is required. In this paper, we are interested in contact interaction-centered motion optimization based on the momentum dynamics model. This model… CONTINUE READING

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