Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control.
Ruben GrandiaAndrew J. TaylorAaron D. AmesMarco HutterPublished in: CoRR (2020)
Keyphrases
- multi layered
- model predictive control
- legged robots
- predictive control
- control system
- inverted pendulum
- control strategy
- quadruped robot
- mobile robot
- control algorithm
- control scheme
- neuro fuzzy
- fuzzy controller
- process control
- control method
- mpc algorithm
- adaptive control
- multiple models
- fuzzy rules
- legged locomotion
- data mining