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.
Realization of a real-time optimal control strategy to stabilize a falling humanoid robot with hand contact
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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.