arXiv (All)
open access
Real-Time Control-Constrained DDP for Underactuated Balancing of Legged Robots
This paper presents a real-time control-constrained Differential Dynamic Programming (DDP) framework for underactuated legged robots. To address the limitation of classical DDP in handling control constraints, we propose an Accelerated Projected Gradient (APG)-based control-constrained DDP (ABC-DDP)
Conceptio Open Archive
Analyze & explore related research in Conceptio
Connect this record directly into your research workflow or AI agent. Explore citations across open repositories, query full text, and export structured proof bundles.
This document is indexed with metadata only: full text is not available in the archive for this record. Open the official source ↗
Related documents
- Modeling and Simulation of a Horizontally Moving Suspended Mass Pendulum Base using H infinity Optimal Loop Shaping Controller with First and Second Order Desired Loop Shaping Functions#742828
- A Model-based Hierarchical Controller for Legged Systems subject to External Disturbances#657516
- ElastiQP: An Always-Feasible QP Solver for Constrained Robot Control#1013288
- Robust Control Theory Based Performance Investigation of an Inverted Pendulum System using Simulink#742848
- Tannenbaum's gain-margin optimization meets Polyak's heavy-ball algorithm#986097
Record · ID 926176
Retrieved via Conceptio: every document is proof-bundled with source, license, and retrieval metadata.
Retrieved via Conceptio: every document is proof-bundled with source, license, and retrieval metadata.
Bring this data into your agent: Connect via MCP or API · 20 free credits to start · no card required
Read the Docs → · View CLI source on GitHub · Conceptio Open Knowledge Archive
Read the Docs → · View CLI source on GitHub · Conceptio Open Knowledge Archive