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Standing Balance Control Using a Trajectory Library (new)

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Uploaded by on Oct 8, 2009

We implement a standing balance controller using a trajectory library on the Sarcos robot of CMU. An optimal trajectory library and the neighboring optimal control method are used to generate local approximations to optimal control. For detail:
http://www.andrew.cmu.edu/user/cgliu/...
Chenggang Liu @ Carnegie Mellon University

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