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Optimal control for whole-body motion generation using center-of-mass dynamics for predefined multi-contact configurations

M. Kudruss, M. Naveau, Olivier Stasse, Nicolas Mansard, C. Kirches, Philippe Souères, Katja D. Mombaur. Optimal control for whole-body motion generation using center-of-mass dynamics for predefined multi-contact configurations. In 15th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2015, Seoul, South Korea, November 3-5, 2015. pages 684-689, IEEE, 2015. [doi]

Authors

M. Kudruss

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M. Naveau

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Olivier Stasse

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Nicolas Mansard

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C. Kirches

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Philippe Souères

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Katja D. Mombaur

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