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MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion.
Octavio Antonio Villarreal-Magaña
Victor Barasuol
Patrick M. Wensing
Claudio Semini
Published in:
CoRR (2019)
Keyphrases
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legged robots
rough terrain
closed loop
legged locomotion
dynamic environments
control system
real time
dynamic model
multi modal
optimal control
control scheme
quadruped robot
three dimensional
reinforcement learning
evolutionary algorithm