A. Roennau

Optimized Wrench Polytope Analysis for Real-Time Stability Control of Legged Robots in Complex Multi-Contact Configurations

Legged robots offer a variety of automation applications in real-world scenarios. But areas that are difficult to traverse, like slopes, caves, or scaffolding, still pose a great challenge for traversal. To tackle this problem, we propose an optimized algorithm for evaluating the full actuatable wrench polytope for arb...