Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots.
Marko BjelonicRuben GrandiaOliver HarleyCla GalliardSamuel ZimmermannMarco HutterPublished in: CoRR (2020)
Keyphrases
- legged robots
- inverted pendulum
- mobile robot
- feedback control
- simulation study
- gait patterns
- quadruped robot
- intelligent control
- real time
- control algorithm
- nonlinear systems
- optimal control
- fuzzy controller
- legged locomotion
- real robot
- path planning
- dynamic environments
- humanoid robot
- dynamic model
- evolutionary algorithm
- decision making