Quadrupedal locomotion using trajectory optimization and hierarchical whole body control.
Christian GehringC. Dario BellicosoPeter FankhauserStelian CorosMarco HutterPublished in: ICRA (2017)
Keyphrases
- legged robots
- robotic systems
- control system
- global optimization
- optimization problems
- robot motion
- robot control
- control theory
- optimization method
- optimization process
- optimization model
- optimization algorithm
- hierarchical structure
- mobile robot
- legged locomotion
- optimization methods
- control method
- inverted pendulum
- spatio temporal
- quadruped robot
- discrete optimization
- optimal control
- control strategy
- multi objective