Model Predictive Control for Motion Planning of Quadrupedal Locomotion.
Yapeng ShiPengfei WangMantian LiXin WangZhenyu JiangZhibin LiPublished in: ICARM (2019)
Keyphrases
- motion planning
- model predictive control
- legged robots
- degrees of freedom
- mobile robot
- predictive control
- control system
- rough terrain
- control law
- path planning
- robot arm
- humanoid robot
- trajectory planning
- multi robot
- robotic tasks
- inverse kinematics
- autonomous mobile robot
- obstacle avoidance
- dynamic environments
- real robot
- pose estimation
- configuration space
- robotic arm
- control scheme
- autonomous robots
- robotic systems
- mechanical systems
- climbing robot
- neuro fuzzy
- inverted pendulum
- collision avoidance
- robot control
- computational intelligence
- fuzzy logic
- expert systems
- computer vision