Dynamic walking over rough terrains by nonlinear predictive control of the floating-base inverted pendulum.

Stéphane Caron Abderrahmane Kheddar

Published in: IROS (2017)

Keyphrases

inverted pendulum
nonlinear predictive control
biped robot
rough sets
dynamic environments
nonlinear systems
intelligent control
simulation study
legged robots
neural network
genetic algorithm
knowledge base
control algorithm
initial conditions