MPC-based Locomotion Control of Bipedal Robots with Line-Feet Contact using Centroidal Dynamics.
Gabriel GarcíaRobert J. GriffinJerry E. PrattPublished in: HUMANOIDS (2021)
Keyphrases
- robot control
- autonomous robots
- robotic systems
- legged robots
- mobile robot
- quadruped robot
- dynamic model
- humanoid robot
- closed loop
- inverted pendulum
- autonomous systems
- control system
- industrial robots
- robot motion
- highly nonlinear
- feedback control
- air fuel ratio
- robot behavior
- human body
- dynamical systems
- motion control
- optimal control
- legged locomotion
- multi robot
- unstructured environments
- visual servoing
- search and rescue
- human operators
- cooperative
- formation control
- vision system
- biped robot
- linear quadratic
- distributed control
- line segments
- physical constraints
- path planning
- autonomous navigation
- motion planning
- voronoi diagram