Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs

DOI10.1007/978-3-319-01159-2_12zbMath1302.93069OpenAlexW187917816MaRDI QIDQ2925508

Aaron D. Ames, Matthew Powell

Publication date: 16 October 2014

Published in: Control of Cyber-Physical Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-319-01159-2_12

zbMATH Keywords

roboticscontrol Lyapunov functionsmanipulationcyber-physical systemsquadratic programsbipedal locomotion

Mathematics Subject Classification ID

Quadratic programming (90C20) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18)

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