Feedback MPC for Torque-Controlled Legged Robots.

Ruben Grandia Farbod Farshidian René Ranftl Marco Hutter

Published in: CoRR (2019)

Keyphrases

legged robots
dynamic model
contact force
feedback loop
mobile robot
closed loop
control scheme
real world
control strategy
inverted pendulum
legged locomotion
optimal control
control algorithm
quadruped robot