Computational details for : "Optimal Estimation of the Centroidal Dynamics of Legged Robots"

François Bailly (1, 2) , Justin Carpentier (3) , Philippe Souères (2)

1 UdeM - Université de Montréal
2 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
3 WILLOW - Models of visual object recognition and scene understanding

This document complements the paper entitled "Differential Dynamic Programming for Maximum a Posteriori Centroidal State Estimation of Legged Robots" [1]. The purpose of this work was to estimate the centroidal dynamics of legged robots by formulating a maximum a posteriori problem and solving it thanks to differential dynamic programming (DDP).

Domaines: Robotique [cs.RO]

François Bailly, Justin Carpentier, Philippe Souères. Computational details for : "Optimal Estimation of the Centroidal Dynamics of Legged Robots". [Research Report] Rapport LAAS n° 21072, LAAS-CNRS; Université de Montréal. 2021. ⟨hal-03180052v4⟩