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Terrain-Aware Foot Placement for Bipedal Locomotion Combining Model Predictive Control, Virtual Constraints, and the ALIP.
Grant Gibson
Oluwami Dosunmu-Ogunbi
Yukai Gong
Jessy W. Grizzle
Published in:
CoRR (2021)
Keyphrases
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model predictive control
rough terrain
predictive control
legged robots
control system
three dimensional
multiresolution
degrees of freedom
machine learning
virtual environment
humanoid robot
quadruped robot
neural network
virtual reality
robotic systems
mobile robot
training set
decision making