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Whole-body model predictive control with rigid contacts via online switching time optimization.

Sotaro KatayamaToshiyuki Ohtsuka
Published in: IROS (2022)
Keyphrases
  • model predictive control
  • predictive control
  • control system
  • online learning
  • optimization method
  • optimization problems
  • real time
  • artificial intelligence
  • reinforcement learning
  • multi modal
  • control scheme