Computational details for : "Optimal Estimation of the Centroidal Dynamics of Legged Robots" - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Reports (Research Report) Year : 2021

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

Abstract

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).
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Dates and 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)

Identifiers

  • HAL Id : hal-03180052 , version 4

Cite

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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