| Autor: |
Urban, Stella Diniz, Adorno, Bruno Vilhena |
| Rok vydání: |
2019 |
| Předmět: |
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| DOI: |
10.5281/zenodo.3566763 |
| Popis: |
This paper proposes a bipedal walking controller based on quadratic programming and differential inequalities to keep the gait balance during the complete walking cycle. We design the differential inequalities constraints using geometric primitives within the dual quaternion algebra. Simulations on the lower body of the Poppy humanoid robot show the effectiveness of the approach. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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