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machines-in-motion / kino_dynamic_opt

Kino-dynamic optimization algorithm for multiped robots
BSD 3-Clause "New" or "Revised" License
40 stars 9 forks source link

Fix centroidal momentum computation for the inverse kinematics #39

Closed jviereck closed 3 years ago

jviereck commented 3 years ago

Also start the initial configuration in z closer to the desired starting position.