Force-and-moment-based Model Predictive Control for Achieving Highly Dynamic Locomotion on Bipedal Robots.
Junheng LiQuan NguyenPublished in: CoRR (2021)
Keyphrases
- highly dynamic
- model predictive control
- autonomous robots
- mobile robot
- robotic systems
- humanoid robot
- control system
- robot control
- predictive control
- quadruped robot
- legged robots
- tactile sensing
- service oriented
- rough terrain
- multi robot
- closed loop
- control law
- vision system
- robot motion
- mobile ad hoc networks
- inverted pendulum
- motion planning
- real time
- neural network
- contact force
- mpc algorithm