A Model-Free Solution for Stable Balancing and Locomotion of Floating-base Legged Systems
Emmanouil Spyrakos-Papastavridis,Jian S. Dai,Emmanouil Spyrakos-Papastavridis,Jian S. Dai
This paper presents novel control techniques for passivation and stabilisation of floating-base systems with contacts, whose dynamical models comprise both joint-space, and Cartesian floating-base coordinates. The aforementioned results are achieved using both minimally model-based, and completely model-free controllers that employ power-shaping signals. Model-free control is permitted through usa...
