Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos.
Ewen DantecRohan BudhirajaAdria RoigTeguh Santoso LembonoGuilhem SaurelOlivier StassePierre FernbachSteve TonneauSethu VijayakumarSylvain CalinonMichel TaïxNicolas MansardPublished in: ICRA (2021)
Keyphrases
- model predictive control
- predictive control
- humanoid robot
- control system
- control scheme
- motion estimation
- space time
- image sequences
- control algorithm
- motion analysis
- control strategy
- moving objects
- motion model
- human motion
- optical flow
- camera motion
- motion planning
- memory requirements
- closed loop
- real time
- mpc algorithm
- management system
- artificial intelligence
- neural network