Robust bipedal locomotion control based on model predictive control and divergent component of motion.
Milad Shafiee-AshtianiAghil Yousefi-KomaMasoud Shariat PanahiPublished in: ICRA (2017)
Keyphrases
- model predictive control
- predictive control
- control system
- humanoid robot
- legged locomotion
- robot motion
- image sequences
- quadruped robot
- robust tracking
- closed loop
- control method
- control signals
- optical flow
- autonomous robots
- robot control
- motion model
- camera motion
- mobile robot
- motion estimation
- control strategy
- dynamic model
- robotic systems
- machine learning
- genetic algorithm
- legged robots
- multi modal
- power plant
- pid controller
- motion planning
- control scheme
- fault diagnosis
- human motion