IEEE - Institute of Electrical and Electronics Engineers, Inc. - Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion

Author(s): George Mesesan ; Johannes Englsberger ; Christian Ott ; Alin Albu-Schaffer
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2018
Volume: 3
Page(s): 3,449 - 3,456
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2018.2853557
Regular:

This letter presents an in-depth analysis of the convex properties of center-of-mass (CoM) trajectories for legged robot locomotion based on the concept of Divergent Component of Motion (DCM). In... View More

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