Trajectory generation for multi-contact momentum control

@article{Herzog2015TrajectoryGF,
  title={Trajectory generation for multi-contact momentum control},
  author={Alexander Herzog and Nicholas Rotella and Stefan Schaal and Ludovic Righetti},
  journal={2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)},
  year={2015},
  pages={874-880}
}
Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks the assumptions of these models can become limiting. For example, the LIPM does not allow for the control of contact forces independently, is limited to co-planar contacts and assumes that the angular momentum is zero. In this paper, we propose to use the full momentum equations of a humanoid robot in a trajectory… 
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