Letian Qian

Towards Generation and Transition of Diverse Gaits for Quadrupedal Robots Based on Trajectory Optimization and Whole-Body Impedance Control

Trajectory optimization (TO) combined with whole-body control (WBC) have been a widely accepted approach for dynamic gait control of quadruped robots. However, there are still open issues in this framework, one is the lack of a unified description of intrinsic inter-limb coordination for wide range