Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control.
Ayonga HereidMatthew J. PowellAaron D. AmesPublished in: CDC (2014)
Keyphrases
- multi objective
- autonomous robots
- mechanical systems
- kinematic model
- quadratic program
- receding horizon
- humanoid robot
- robotic systems
- motion planning
- evolutionary algorithm
- mobile robot
- genetic algorithm
- formation control
- particle swarm optimization
- dynamical systems
- objective function
- quadratic programming
- linear program
- convex optimization
- multi robot
- dynamic systems
- linear constraints
- mixed integer
- approximation algorithms
- closed loop
- principal component analysis
- np hard
- learning algorithm