2026
Force Allocation Control for Redundant-Torso Biomimetic Quadrupeds Via Virtual Force and Fully Actuated System Approach
ICRA 2026poster
Fully actuated system approach (FASA) provides a promising control framework for robots with redundant actuation, offering simplified controller design and increased design freedom. However, its application to legged robots remains challenging due to hybrid actuation from intermittent ground contact…