Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control.
Ruben GrandiaAndrew J. TaylorAaron D. AmesMarco HutterPublished in: ICRA (2021)
Keyphrases
- multi layered
- model predictive control
- legged robots
- predictive control
- control system
- inverted pendulum
- legged locomotion
- closed loop
- control strategy
- quadruped robot
- optimal control
- mobile robot
- control algorithm
- fuzzy logic
- process control
- control scheme
- intelligent control
- multiple models
- control law
- data mining
- simulation study
- experimental data
- intelligent systems
- reinforcement learning