Morisawa et al., 2018 - Google Patents
Online 3D CoM trajectory generation for multi-contact locomotion synchronizing contactMorisawa et al., 2018
View PDF- Document ID
- 2243034194078307982
- Author
- Morisawa M
- Cisneros R
- Benallegue M
- Kumagai I
- Escande A
- Kanehiro F
- Publication year
- Publication venue
- 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
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Snippet
This paper proposes a fast computation method for 3D multi-contact locomotion. The contributions of this paper are (a) the derivation of the prospect centroidal dynamics by introducing a force distribution ratio, where the centroidal dynamics in multi-contact can be …
- 230000033001 locomotion 0 title abstract description 46
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