Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs

DOI10.1007/978-3-319-01159-2_12zbMath1302.93069OpenAlexW187917816MaRDI QIDQ2925508

Aaron D. Ames, Matthew Powell

Publication date: 16 October 2014

Published in: Control of Cyber-Physical Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-319-01159-2_12

zbMATH Keywords

roboticscontrol Lyapunov functionsmanipulationcyber-physical systemsquadratic programsbipedal locomotion

Mathematics Subject Classification ID

Quadratic programming (90C20) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18)

Related Items (1)

Models, feedback control, and open problems of 3D bipedal robotic walking

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