Optimal Estimation of the Centroidal Dynamics of Legged Robots
François Bailly,Justin Carpentier,Philippe Souères,François Bailly,Justin Carpentier,Philippe Souères
Estimating the centroidal dynamics of legged robots is crucial in the context of multi-contact locomotion of legged robots. In this paper, we formulate the estimation of centroidal dynamics as a maximum a posteriori problem and we use a differential dynamic programming approach for solving it. The soundness of the proposed approach is first validated on a simulated humanoid robot, where ground tru...
