2018
Balance Control Using Both ZMP and COM Height Variations: A Convex Boundedness Approach
ICRA 2018poster
Developments for 3D control of the center of mass (CoM) of biped robots are currently located in two local minima: on the one hand, methods that allow CoM height variations but only work in the 2D sagittal plane; on the other hand, nonconvex direct transcriptions of centroidal dynamics that are deli…