[Legway] QP-based Balancing Control of Legway in Wheel Mode
Gazebo simulation of 'Legway'
Based on QP, optimal ground reaction forces and torques were generated to control state of Legway in Wheel Mode: the position and orientation of the CoM and wheels.
-Time stamp
0:00 Intro
0:05 Basic motions(static)
1:03 Traversing various obstacles
2:11 Crab steering
2:49 Integrated simulation