Optimal Reduced-order Modeling of Bipedal Locomotion
Yu-Ming Chen,Michael Posa,Yu-Ming Chen,Michael Posa
State-of-the-art approaches to legged locomotion are widely dependent on the use of models like the linear inverted pendulum (LIP) and the spring-loaded inverted pendulum (SLIP), popular because their simplicity enables a wide array of tools for planning, control, and analysis. However, they inevitably limit the ability to execute complex tasks or agile maneuvers. In this work, we aim to automatic...
