Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots.
Marko BjelonicRuben GrandiaOliver HarleyCla GalliardSamuel ZimmermannMarco HutterPublished in: IROS (2021)
Keyphrases
- legged robots
- inverted pendulum
- mobile robot
- feedback control
- simulation study
- quadruped robot
- intelligent control
- gait patterns
- nonlinear systems
- initial conditions
- real time
- legged locomotion
- real world
- fuzzy controller
- optimal control
- dynamic environments
- evolutionary algorithm
- fuzzy systems
- autonomous navigation
- closed loop
- path planning
- artificial neural networks