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Reachability Map for Diverse Balancing Strategies and Energy Efficient Stepping of Humanoids
[article]
2021
arXiv
pre-print
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot dynamics and whole-body optimal control as a coupled system to investigate energy consumption during balance recovery. We developed a 2-phase nonlinear optimization pipeline for dynamic stepping, which generates reachability maps showing complex energy-stepping
arXiv:2105.00995v1
fatcat:p366nqijybajzagkb2c6s3dybu