Decentralized Control Schemes for Stable Quadrupedal Locomotion: A Decomposition Approach from Centralized Controllers.
Abhishek PandalaVinay R. KamidiKaveh Akbari HamedPublished in: IROS (2020)
Keyphrases
- legged robots
- peer to peer
- peer to peer systems
- fully distributed
- multi agent
- mobile robot
- decomposition algorithm
- distributed systems
- cooperative
- inverted pendulum
- reinforcement learning
- distributed environment
- legged locomotion
- decomposition method
- control system
- control strategy
- load balancing
- decomposition methods
- image decomposition
- hierarchical decomposition
- robotic systems
- decentralized control
- distributed agents
- quadruped robot