Feedback MPC for Torque-Controlled Legged Robots.

Ruben Grandia Farbod Farshidian René Ranftl Marco Hutter

Published in: IROS (2019)

Keyphrases

legged robots
dynamic model
feedback loop
contact force
mobile robot
control algorithm
control scheme
closed loop
genetic algorithm
inverted pendulum
decision making
multi modal
dynamic environments
finite element analysis
legged locomotion