Nonlinear model predictive running control of Kangaroo robot: A one-leg planar underactuated hopping robot.
Nicolas CarlésiAhmed ChemoriPublished in: IROS (2010)
Keyphrases
- walking robot
- humanoid robot
- mobile robot
- autonomous robots
- robotic systems
- robot manipulators
- formation control
- receding horizon
- sagittal plane
- biped robot
- motion planning
- nonlinear models
- legged locomotion
- vision system
- robot behavior
- quadruped robot
- multi robot
- mechanical systems
- legged robots
- rough terrain
- feature selection
- control law
- control strategy
- least squares
- real time
- linear models
- control method
- path planning