Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots.
James ZhuJ. Joe PayneAaron M. JohnsonPublished in: CoRR (2023)
Keyphrases
- legged robots
- trajectory planning
- robot manipulators
- inverted pendulum
- motion planning
- obstacle avoidance
- mobile robot
- quadruped robot
- feedback control
- control system
- dynamic environments
- path planning
- legged locomotion
- simulation study
- control scheme
- control strategy
- control strategies
- fuzzy neural network
- neural network
- dynamic model
- shortest path
- multi modal
- learning algorithm