Optimization-Inspired Controller Design for Transient Legged Locomotion
Callen Fisher Joshua Van Zyl Reuben Govender Amir Patel Callen Fisher Joshua Van Zyl Reuben Govender Amir Patel
For robots to leave the safety of the laboratory and explore the world, maneuverability will need to be mastered. However, transient motions, such as rapid acceleration and deceleration, have received little attention in the literature. This is mainly due to the complexity of analyzing these high dimensional systems that have no closed-form solution which makes controller design a non-trivial task...