Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation.

Jean-Pierre Sleiman Farbod Farshidian Marco Hutter

Published in: CoRR (2023)

Keyphrases

legged locomotion
motion control
control system
control rules
inverted pendulum
disturbance rejection
action selection
control theory
decision support
domain independent
planning problems
control strategy
closed loop
process control
plan generation
state space
legged robots
mobile robot
web services