motion control

Optimization-Based Control for Dynamic Legged Robots
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from …
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
Cite DOI arXiv
Robust Satisfaction of Joint Position and Velocity Bounds in Discrete-Time Acceleration Control of Robot Manipulators
This paper deals with the robust control of fully-actuated robots subject to joint position, velocity and acceleration bounds. Robotic …
Erik Zanolli, Andrea Del Prete
Cite paper code
Robust Satisfaction of Joint Position and Velocity Bounds in Discrete-Time Acceleration Control of Robot Manipulators