Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints.
Grant GibsonOluwami Dosunmu-OgunbiYukai GongJessy W. GrizzlePublished in: IROS (2022)
Keyphrases
- model predictive control
- control system
- quadruped robot
- predictive control
- legged robots
- closed loop
- rough terrain
- adaptive control
- control method
- control law
- fuzzy logic
- mobile robot
- humanoid robot
- control scheme
- disturbance rejection
- real time
- pid controller
- feedback control
- intelligent control
- control parameters
- autonomous robots
- control algorithm
- dynamic model
- multi modal
- fuzzy sets
- neural network