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MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion.
Octavio Villarreal
Victor Barasuol
Patrick M. Wensing
Darwin G. Caldwell
Claudio Semini
Published in:
ICRA (2020)
Keyphrases
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legged robots
rough terrain
legged locomotion
closed loop
control system
vision system
optimal control
quadruped robot
feedback control
control method
dynamic model
video sequences
three dimensional
neural network
real time
pid controller
autonomous navigation
high dimensional