Autonomous and Safety-Critical Stair Climbing via Nonlinear Model Predictive Control for Quadrupedal Robots.
Chengzhuo LiXiafu PengWeiyao LanXiao YuPublished in: ROBIO (2023)
Keyphrases
- safety critical
- robotic systems
- nonlinear model predictive control
- fault tolerant
- cooperative
- formal methods
- legged robots
- image based visual servoing
- agent architecture
- safety analysis
- dynamic model
- embedded systems
- multi robot
- mobile robot
- support systems
- regulatory requirements
- visual servoing
- autonomous robots
- vision system
- adaptive systems
- robot control
- computationally efficient
- user interface
- learning process
- learning systems
- information systems