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cs.RO2025
Realtime Limb Trajectory Optimization for Humanoid Running Through Centroidal Angular Momentum Dynamics
Sait Sovukluk, Robert Schuller, Johannes Englsberger +1
One of the essential aspects of humanoid robot running is determining the limb-swinging trajectories. During the flight phases, where the ground reaction forces are not available f…
cs.RO2024
Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots
Connor W. Herron, Robert Schuller, Benjamin C. Beiter +3
In this work, the Divergent Component of Motion (DCM) method is expanded to include angular coordinates for the first time. This work introduces the idea of spatial DCM, which adds…