Time-Efficient Contact Consistent Whole-Body Control Framework via Reduced-Dimension Dynamics Construction
Whole-body control frameworks for highly redundant, floating-base robots like humanoids are challenging due to the increased computational complexity arising from their high degrees of freedom. In this paper, the concept of reduced-dimension dynamics previously applied to whole-body control framewor...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10816424/ |
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