Computational details for : "Optimal Estimation of the Centroidal Dynamics of Legged Robots"

This document complements the paper entitled "Differential Dynamic Programming for Maximum a Posteriori Centroidal State Estimation of Legged Robots" [1]. The purpose of this work was to estimate the centroidal dynamics of legged robots by formulating a maximum a posteriori problem and solving it thanks to differential dynamic programming (DDP).

Domaines

Robotique [cs.RO]

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technical_report.pdf (821.77 Ko)

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Bailly François : Connectez-vous pour contacter le contributeur

https://hal.science/hal-03180052

Soumis le : jeudi 25 mars 2021-19:19:04

Dernière modification le : lundi 9 décembre 2024-15:32:38

Dates et versions

hal-03180052 , version 1 (24-03-2021)

hal-03180052 , version 2 (25-03-2021)

hal-03180052 , version 3 (25-03-2021)

hal-03180052 , version 4 (25-03-2021)

Identifiants

HAL Id : hal-03180052 , version 4

Citer

François Bailly, Justin Carpentier, Philippe Souères. Computational details for : "Optimal Estimation of the Centroidal Dynamics of Legged Robots". [Research Report] Rapport LAAS n° 21072, LAAS-CNRS; Université de Montréal. 2021. ⟨hal-03180052v4⟩

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