@conference {Kuindersma14,
	title = {An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion},
	booktitle = {Proceedings of the International Conference on Robotics and Automation (ICRA)},
	year = {2014},
	note = {[[{"fid":"3193276","view_mode":"default","type":"media","attributes":{"height":"360","width":"480","alt":"Atlas walking in Gazebo simulation on YouTube","title":"Atlas walking in Gazebo simulation","class":"media-element file-default"}}]]
[[{"fid":3193216,"view_mode":"default","type":"media","attributes":{"height":"360","width":"480","alt":"Atlas walking, running, and jumping in simulation on YouTube","title":"Atlas walking, running, and jumping in simulation","class":"media-element file-default"}}]]},
	pages = {2589{\textendash}2594},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Hong Kong, China},
	abstract = {We describe a whole-body dynamic walking controller implemented as a convex quadratic program. The controller solves an optimal control problem using an approximate value function derived from a simple walking model while respecting the dynamic, input, and contact constraints of the full robot dynamics. By exploiting sparsity and temporal structure in the optimization with a custom active-set algorithm, we surpass the performance of the best available off-the-shelf solvers and achieve 1kHz control rates for a 34-DOF humanoid. We describe applications to balancing and walking tasks using the simulated Atlas robot in the DARPA Virtual Robotics Challenge.},
	isbn = {978-1-4799-3685-4},
	doi = {10.1109/ICRA.2014.6907230},
	author = {Scott Kuindersma and Frank Permenter and Russ Tedrake}
}
