Perceptive Locomotion Through Nonlinear Model-Predictive Control.
Ruben GrandiaFabian JeneltenShaohui YangFarbod FarshidianMarco HutterPublished in: IEEE Trans. Robotics (2023)
Keyphrases
- nonlinear model predictive control
- image based visual servoing
- dynamic model
- visual servoing
- mobile robot
- robot control
- computationally efficient
- degrees of freedom
- human perception
- robotic systems
- rough terrain
- legged robots
- steady state
- quadruped robot
- real time
- multiple models
- central pattern generator
- artificial neural networks