A centroidal optimal control problem that penalizes angular momentum rate produces pendular force patterns whose rate is set by foot geometry and matches experiments within 16 percent.
ZMP support areas for multicontact mobility under frictional constraints
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On the Emergence of Pendular Structure in Multi-Contact Locomotion
A centroidal optimal control problem that penalizes angular momentum rate produces pendular force patterns whose rate is set by foot geometry and matches experiments within 16 percent.