Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion
This paper presents new recursive dynamics algorithms that enable operational-space control of floating-base systems to be performed at faster rates. This type of control approach requires the computation of operational-space quantities and suffers from high computational order when these quantities...
Main Authors: | , , |
---|---|
Other Authors: | |
Format: | Article |
Language: | English |
Published: |
Springer Science+Business Media,
2016-06-17T17:17:20Z.
|
Subjects: | |
Online Access: | Get fulltext |