Application of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots

TitleApplication of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots
Publication TypeJournal Article
Year of Publication2018
AuthorsOrsolino, RG, Focchi, M, Mastalli, C, Dai, H, Caldwell, D, Semini, C
JournalIEEE Robotics and Automation Letters
Volume3
Pagination3363-3370
KeywordsComputational Geometry, Humanoid and Bipedal Locomotion, Legged Robots, Manipulation Planning, Motion and Path Planning, Optimization and Optimal Control
URLhttps://hal.archives-ouvertes.fr/hal-02086079
DOI10.1109/LRA.2018.2836441