Beyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion

Reduced-order models (ROM) are popular in online motion planning due to their simplicity. A good ROM for control captures critical task-relevant aspects of the full dynamics while remaining low dimensional. However, planning within the reduced-order space unavoidably constrains the full model, and h...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Chen, Yu-Ming, Hu, Jianshu, Posa, Michael
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!