HIGHLIGHTS
- who: August et al. from the University of Pisa, Italy have published the research work: Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains, in the Journal: (JOURNAL)
- what: The authors propose a QP-based optimization over both contact forces and joint stiffness based on desired motions and desired Cartesian compliance. The robot dynamics is described by the linear inverted pendulum (LIP) model, where the authors focus on the motions of the CoM and the zero-moment-point (ZMP) but ignore the forces acting on the robot. The aim is to minimize . . .
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