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NTIS 바로가기IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, v.37 no.4, 2021년, pp.1154 - 1171
Ding, Yanran (University of Illinois at Urbana-Champaign, Department of Mechanical Science and Engineering, Urbana, IL, USA) , Pandala, Abhishek (Virginia Polytechnic Institute and State University, Department of Mechanical Engineering, VA, USA) , Li, Chuanzheng (University of Illinois at Urbana-Champaign, Department of Mechanical Science and Engineering, Urbana, IL, USA) , Shin, Young-Ha (Korea Advanced Institute of Science and Technology, Department of Mechanical Engineering, Daejeon, South Korea) , Park, Hae-Won (Korea Advanced Institute of Science and Technology, Department of Mechanical Engineering, Daejeon, South Korea)
This article presents a novel representation-free model predictive control (RF-MPC) framework for controlling various dynamic motions of a quadrupedal robot in three-dimensional (3-D) space. Our formulation directly represents the rotational dynamics using the rotation matrix, which liberates us fro...
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Pandala, Abhishek Goud, Ding, Yanran, Park, Hae-Won. qpSWIFT: A Real-Time Sparse Quadratic Program Solver for Robotic Applications. IEEE robotics and automation letters, vol.4, no.4, 3355-3362.
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