Moving past point-contacts: Extending the ALIP model to humanoids with non-trivial feet using hierarchical, full-body momentum control

Fuente: arXiv

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Bibliographic Details
Main Authors:	Paredes, Victor C., Hagen, Daniel A., Chesebrough, Samuel W., Swann, Riley, Garagic, Denis, Hereid, Ayonga
Format:	Preprint
Published:	2024
Subjects:	Robotics Systems and Control
Online Access:	Acceder al recurso
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Internet

https://arxiv.org/abs/2408.05308