Collision-Free MPC for Legged Robots in Static and Dynamic Scenes.

Magnus Gaertner Marko Bjelonic Farbod Farshidian Marco Hutter

Published in: ICRA (2021)

Keyphrases

collision free
legged robots
mobile robot
path planning
motion planning
collision avoidance
dynamic environments
inverted pendulum
dynamic model
feedback control
autonomous robots
free space
closed loop
robotic arm
real robot
neural network
robotic systems
computer vision
optimal path
optimal control