Technical Report on: Anchoring Sagittal Plane Templates in a Spatial Quadruped
arXiv:2209.15617
Abstract
This technical report provides a more thorough treatment of the proofs and derivations contained in a recent conference paper submission. The description of the anchoring controller is reproduced here without abridgement, and additional appendices provide a clearer account of the implementation details.
5 pages, 1 figure