Multi-Task Inverse Dynamcis based on LS-Optimization
نویسندگان
چکیده
This paper presents the latest advances we made in static and dynamic locomotion with our compliant quadrupedal robot StarlETH. We outline a hierarchical task-space inverse dynamics framework based on least square optimization that allows for simple generation of complex robot behaviors and simultaneous optimization of joint torque and contact force objectives. Strong focus is put on experimental validation.
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تاریخ انتشار 2013