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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:
CoRR (2022)
Keyphrases
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robot control
lie group
motion control
model predictive control
control system
mobile robot
parameter space
predictive control
state space
mean shift
euclidean space
pid controller
autonomous robots
infinite dimensional
real time
closed loop