diff --git a/README.md b/README.md index 5c1e6f9e..3d6c601b 100644 --- a/README.md +++ b/README.md @@ -7,7 +7,7 @@ drawing -WBC is C++ library for optimization-based control of redundant robots. It allows intuitive specification and execution of reactive robot control problems that involve multiple simultaneously running tasks. 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 +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 * Controlling multiple tasks simultaneously * reactive robot control, i.e. it does not plan ahead the next robot control actions