Model predictive control of underactuated bipedal robotic walking.
Matthew J. PowellEric A. CousineauAaron D. AmesPublished in: ICRA (2015)
Keyphrases
- model predictive control
- humanoid robot
- motion planning
- control system
- predictive control
- walking speed
- real robot
- autonomous robots
- mechanical systems
- closed loop
- disturbance rejection
- mobile robot
- robotic systems
- real time
- control law
- multi modal
- control loop
- control scheme
- gait recognition
- control strategy
- receding horizon
- limit cycle
- neuro fuzzy
- human motion
- management system
- knowledge base