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A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations.

Reihaneh MirjaliliAghil Yousefi-KomaFarzad A. ShiraziArman NikkhahFatemeh NazemiMajid Khadiv
Published in: Humanoids (2018)
Keyphrases
  • control scheme
  • mathematical model
  • neural model
  • predictive control
  • control system
  • theoretical analysis
  • experimental data
  • closed loop