Fast, Versatile, and Open-loop Stable Running Behaviors with Proprioceptive-only Sensing using Model-based Optimization
Wei Gao,Charles Young,John Nicholson,Christian Hubicki,Jonathan Clark,Wei Gao,Charles Young,John Nicholson,Christian Hubicki,Jonathan Clark
As we build our legged robots smaller and cheaper, stable and agile control without expensive inertial sensors becomes increasingly important. We seek to enable versatile dynamic behaviors on robots with limited modes of state feedback, specifically proprioceptive-only sensing. This work uses model-based trajectory optimization methods to design open-loop stable motion primitives. We specifically ...
