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Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion.
Guiyang Xin
Songyan Xin
Oguzhan Cebe
Mathew Jose Pollayil
Franco Angelini
Manolo Garabini
Sethu Vijayakumar
Michael N. Mistry
Published in:
IEEE Robotics Autom. Lett. (2021)
Keyphrases
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rough terrain
legged locomotion
humanoid robot
quadruped robot
legged robots
autonomous navigation
optimal control
robotic systems
motion planning
dynamic environments
robot behavior
control system
feedback control
mobile robot
closed loop
spatio temporal
three dimensional
real time