Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control. Xiong, X. & Ames, A. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1018-1024, 2019. IEEE. IROS RoboCup Best Paper Award
Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control [pdf]Paper  Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control [link]Video  bibtex   

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