A preview-control-based centroidal controller generates and stabilizes humanoid multi-contact motions at sub-millisecond cost, demonstrated in simulation.
Centroidal dynamics of a humanoid robot,
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Centroidal Trajectory Generation and Stabilization based on Preview Control for Humanoid Multi-contact Motion
A preview-control-based centroidal controller generates and stabilizes humanoid multi-contact motions at sub-millisecond cost, demonstrated in simulation.