Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion

Mads Erlend Bøe Lysø, Esten Ingar Grøtli, Kristin Ytterstad Pettersen

In this paper, we improve upon a method for optimal control of quadrupedal robots which utilizes a full-order model of the system. The original method utilizes offline nonlinear op…