Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot.
Ewen DantecMaximilien NaveauPierre FernbachNahuel A. VillaGuilhem SaurelOlivier StasseMichel TaïxNicolas MansardPublished in: Humanoids (2022)
Keyphrases
- humanoid robot
- model predictive control
- legged locomotion
- rough terrain
- predictive control
- control system
- joint space
- control scheme
- biologically inspired
- motion planning
- multi modal
- control algorithm
- control strategy
- human robot
- imitation learning
- human robot interaction
- biped walking
- fully autonomous
- control law
- human motion
- degrees of freedom
- mobile robot
- feedback loop
- dynamic model
- closed loop
- walking speed
- real robot
- pid controller
- fuzzy controller
- high dimensional