Technical Report on: Anchoring Sagittal Plane Templates in a Spatial Quadruped
arxiv（2023）
摘要
This technical report provides a more thorough treatment of the proofs and derivations contained in a recent conference paper submission. 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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关键词
anchoring sagittal plane templates,dynamic gaits,lateral incurring disturbances,out-of-plane reactivity,parallel composition,planar templates,provably interoperable modular control components,roll incurring disturbances,sagittal-plane templates,sequential compositions,spatial anchor,template-based maneuvers,transitional maneuvers,yaw incurring disturbances
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