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Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics.

Manuel Y. GallikerNoel Csomay-ShanklinRuben GrandiaAndrew J. TaylorFarbod FarshidianMarco HutterAaron D. Ames
Published in: CoRR (2022)
Keyphrases
  • humanoid robot
  • online learning
  • quadruped robot
  • dynamic model
  • legged robots
  • real time
  • walking speed
  • dynamical systems
  • multi modal
  • robotic systems
  • nonlinear model predictive control
  • three dimensional
  • control scheme