Convex Optimization Algorithms for Active Balancing of Humanoid Robots
- 8 August 2007
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics
- Vol. 23 (4), 817-822
- https://doi.org/10.1109/tro.2007.900639
Abstract
We show that a large class of active balancing problems for legged robots can be framed as a second-order cone programming (SOCP) problem, a convex optimization problem for which efficient and numerically robust algorithms exist. We describe this general SOCP balancing framework, show that several existing optimization-based balancing strategies reduce to special cases of this more general formulation, and investigate the computational performance of our SOCP algorithms through simulation studies involving a humanoid model.Keywords
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