Force-and-moment-based Model Predictive Control for Achieving Highly Dynamic Locomotion on Bipedal Robots.
Junheng LiQuan NguyenPublished in: CDC (2021)
Keyphrases
- highly dynamic
- model predictive control
- autonomous robots
- mobile robot
- robotic systems
- control system
- robot control
- humanoid robot
- predictive control
- legged robots
- tactile sensing
- quadruped robot
- service oriented
- rough terrain
- multi robot
- closed loop
- robot motion
- control law
- contact force
- degrees of freedom
- path planning
- mobile ad hoc networks
- real time
- web services
- expert systems
- vision system
- response time
- motion planning
- decision trees
- control scheme
- end to end
- mpc algorithm
- neural network
- control strategy