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Online Relative Footstep Optimization for Legged Robots Dynamic Walking Using Discrete-Time Model Predictive Control.
Songyan Xin
Romeo Orsolino
Nikos G. Tsagarakis
Published in:
IROS (2019)
Keyphrases
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humanoid robot
legged robots
model predictive control
legged locomotion
predictive control
control system
multi modal
gait patterns
real time
machine learning
mobile robot
human motion
artificial intelligence
artificial neural networks
dynamic environments