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Fast algorithms to test robust static equilibrium for legged robots
2016
2016 IEEE International Conference on Robotics and Automation (ICRA)
Maintaining equilibrium is of primary importance for legged systems. It is not surprising then that static equilibrium is at the core of most control/planning algorithms for legged robots. Being able to check whether a system is in static equilibrium is thus important, and doing it efficiently is crucial. While this is straightforward for a system in contact with a flat ground only, it is not the case for arbitrary contact geometries. In this paper we propose two new techniques to test static
doi:10.1109/icra.2016.7487299
dblp:conf/icra/PreteTM16
fatcat:wu4bghdnl5f5ph6yrnb6bizwf4