diff --git a/README.md b/README.md index 119f946b..4fd60631 100644 --- a/README.md +++ b/README.md @@ -5,7 +5,7 @@ [Code API](https://arc-opt.github.io/wbc/index.html) | [Full Documentation](https://arc-opt.github.io/Documentation/) -drawing + WBC is C++ library for optimization-based control of redundant robots. The idea of WBC is to describe a control problem as costs and constraints of an optimization problem (typically a quadratic program or QP) and design a set of feedback controllers around it. The QP minimizes the control errors, trading off the different objectives and produces a joint space command on velocity, acceleration or torque level, which is applied to the robot actuators. WBC is meant for * Controlling redundant robots, particularly floating base systems like humanoids or quadrupeds