Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis.

Dongho Kang Flavio De Vincenti Stelian Coros

Published in: CoRR (2022)

Keyphrases

sensitivity analysis
legged robots
nonlinear model predictive control
image based visual servoing
dynamic model
managerial insights
influence diagrams
mobile robot
visual servoing
variational inequalities
inverted pendulum
robotic systems
decision variables
neural network
computationally efficient
finite number