Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion.
Ziyi ZhouBruce WingoNathan BoydSeth HutchinsonYe ZhaoPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- legged robots
- robot control
- robot motion
- robotic systems
- quadruped robot
- control system
- optimization algorithm
- control method
- mobile robot
- control theory
- reinforcement learning
- global optimization
- data sets
- software development
- trajectory data
- adaptive control
- optimization process
- optimization method
- data acquisition
- supply chain management
- optimal control
- process control
- spatio temporal
- control strategy
- optimization problems
- neural network
- legged locomotion
- real time