Optimal Estimation of the Centroidal Dynamics of Legged Robots
François Bailly Justin Carpentier Philippe Souères François Bailly Justin Carpentier Philippe Souères
Estimating the centroidal dynamics of legged robots is crucial in the context of multi-contact locomotion of legged robots. In this paper, we formulate the estimation of centroidal dynamics as a maximum a posteriori problem and we use a differential dynamic programming approach for solving it. The soundness of the proposed approach is first validated on a simulated humanoid robot, where ground tru...