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Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots.
Nathan J. Kong
Chuanzheng Li
George Council
Aaron M. Johnson
Published in:
IEEE Trans. Robotics (2023)
Keyphrases
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model predictive control
legged robots
predictive control
control system
contact force
control scheme
mobile robot
inverted pendulum
learning algorithm
artificial intelligence
decision support system
mpc algorithm