Versatile multicontact planning and control for legged loco-manipulation.
Jean-Pierre SleimanFarbod FarshidianMarco HutterPublished in: Sci. Robotics (2023)
Keyphrases
- legged locomotion
- motion control
- disturbance rejection
- control system
- decision support
- control rules
- control strategy
- control method
- inverted pendulum
- planning problems
- stochastic domains
- control problems
- legged robots
- blocks world
- plan generation
- control theory
- neural network
- process control
- adaptive control
- optimal control
- domain specific
- reinforcement learning