The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)
نویسندگان
چکیده
The motivation of our current research is to devise motion planners for legged locomotion that are able to exploit the robot’s actuation capabilities. This means, when possible, to minimize joint torques or to propel as much as admissible when required. For this reason we define two new 6-dimensional bounded polytopes that we name Actuationconsistent Wrench Polytope (AWP) and Feasible Wrench Polytope (FWP).
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ورودعنوان ژورنال:
- CoRR
دوره abs/1712.02731 شماره
صفحات -
تاریخ انتشار 2017