Passive Whole-body Control for Quadruped Robots: Experimental Validation over Challenging Terrain

TitlePassive Whole-body Control for Quadruped Robots: Experimental Validation over Challenging Terrain
Publication TypeJournal Article
Year of Publication2019
AuthorsFahmi, S, Mastalli, C, Focchi, M, Semini, C
JournalIEEE Robotics and Automation Letters
Keywordsactive impedance, optimization, passivity, quadrupedal locomotion, whole-body control
URLhttps://hal.archives-ouvertes.fr/hal-02086071
DOI10.1109/LRA.2019.2908502