An Efficient Quadratic Programming Approach to Stabilizing Dynamic Locomotion

Abstract

We describe a whole-body dynamic walking controller implemented as a compact, convex quadratic program. The controller minimizes an optimal control condition on a simple model of the walking system while respecting the dynamic, input, and contact constraints of the full robot dynamics. By exploiting sparsity and temporal structure in the optimization with… (More)

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Cite this paper

@inproceedings{Kuindersma2013AnEQ, title={An Efficient Quadratic Programming Approach to Stabilizing Dynamic Locomotion}, author={Scott Kuindersma and Frank Permenter and Russ Tedrake}, year={2013} }