2019
The VRP Generalized Inverse and Its Application in DCM/VRP-Based Walking Control
RA-L 2019
A generalized inverse, referred to as the virtual-repellent-point generalized inverse (VRP-GI), is proposed to solve the underdetermined body-wrench distribution problem. The VRP-GI is derived as a modification of the divergent-component-of-motion generalized inverse (DCM-GI) introduced in a previou