Constraint-based Gait Control Using Differential Inequalities

Autor:	Urban, Stella Diniz, Adorno, Bruno Vilhena
Rok vydání:	2019
Předmět:	Computer Science::Robotics ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION MathematicsofComputing_NUMERICALANALYSIS
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:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::036ed041a6eb1b2a55fcdf2199a5ce52 Zobrazit plný text záznamu