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An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control.
Sangli Teng
Dianhao Chen
William Clark
Maani Ghaffari
Published in:
IROS (2022)
Keyphrases
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robot control
lie group
motion control
model predictive control
mobile robot
control system
autonomous robots
euclidean space
parameter space
infinite dimensional
predictive control
real time
learning algorithm
state space
mathematical model