Technical Report on: Anchoring Sagittal Plane Templates in a Spatial Quadruped

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Technical Reports (ESE)
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Robotics
legged locomotion
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This technical report provides a more thorough treatment of the proofs and derivations in the authors' paper "Anchoring Sagittal Plane Templates in a Spatial Quadruped." The description of the anchoring controller is reproduced here without abridgement, and additional appendices provide a clearer account of the implementation details.

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2023-02-24
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@misc{ doi = {10.48550/ARXIV.2209.15617}, url = {https://arxiv.org/abs/2209.15617}, note = {Available at \url{https://arxiv.org/abs/2209.15617}}, author = {Greco, Timothy and Koditschek, Daniel E.}, keywords = {Robotics (cs.RO), FOS: Computer and information sciences, FOS: Computer and information sciences}, title = {Technical Report on: Anchoring Sagittal Plane Templates in a Spatial Quadruped}, publisher = {arXiv}, year = {2022}, }
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