Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors.
Noel Csomay-ShanklinVictor D. DorobantuAaron D. AmesPublished in: CoRR (2022)
Keyphrases
- lie group
- image based visual servoing
- nonlinear model predictive control
- lie algebra
- mobile robot
- visual servoing
- vision system
- vector field
- infinite dimensional
- euclidean space
- geometric structure
- dynamic model
- autonomous robots
- vector space
- riemannian manifolds
- linear transformation
- robot control
- mean shift
- parameter space
- tensor field
- covariance matrices
- humanoid robot
- robotic systems
- camera motion