Time optimal control for quadruped robots by using torque redundancy.
Hisashi OsumiKazuya YokohamaKyohei TakeuchiRyosuke NakamuraPublished in: IROS (2012)
Keyphrases
- optimal control
- quadruped robot
- control strategy
- legged robots
- dynamic programming
- control algorithm
- control problems
- feedback control
- multi robot
- class of nonlinear systems
- mobile robot
- control law
- joint space
- contact force
- risk sensitive
- reinforcement learning
- infinite horizon
- control scheme
- control system
- rough terrain
- optimal control problems
- brownian motion
- robotic systems
- mathematical model
- lyapunov function
- autonomous robots
- dynamic model
- manipulation tasks
- multistage
- sliding mode control
- inverted pendulum
- control method
- optimal solution