Ayonga Hereid, Eric A. Cousineau, Christian M. Hubicki, Aaron D. Ames. 3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. In Danica Kragic, Antonio Bicchi, Alessandro De Luca 0001, editors, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, Sweden, May 16-21, 2016. pages 1447-1454, IEEE, 2016. [doi]
Abstract is missing.